Cma/hotfix dockerfile dependency image compress

.env.example

@@ -0,0 +1,2 @@
+PORT_ROSBRIDGE=9090
+PORT_CONTROL_PANEL=5000

Dockerfile.humble

@@ -77,6 +77,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
       ros-humble-xacro \
       ros-humble-rosbridge-server \
       ros-humble-realsense2-camera \
+      ros-humble-compressed-image-transport \
       python3-colcon-common-extensions \
       python3-rosdep2 \
       python3-pytest-cov \

install.sh

@@ -188,8 +188,9 @@ check_cmd git
 check_cmd python3
 if [ "${CI:-}" = "true" ] || [ "${CI:-}" = "1" ] || [ "${LUCY_INSTALL_SKIP_XHOST:-}" = "1" ]; then
   echo "install.sh: skipping xhost check (set CI=1 for headless CI or export LUCY_INSTALL_SKIP_XHOST=1 locally)."
-else
-  check_cmd xhost
+elif ! command -v xhost &>/dev/null; then
+  echo "Missing required command: xhost. Install it or skip this check by re-running with LUCY_INSTALL_SKIP_XHOST=1 (headless setups)." >&2
+  exit 1
 fi
 echo "Requirements OK (docker, git, python3)."
 

windows/Lucy.py

@@ -31,7 +31,6 @@
 WORKSPACE_DIR_HOST = PROJECT_ROOT
 WORKSPACE_DIR_CONTAINER = install_ops.WORKSPACE_CONTAINER
 
-ROSBRIDGE_PORT = 9090
 LCP_DEFAULT_PORT = 5000
 
 _CLI_MODES = frozenset(('install', 'update', 'repair', 'build-only', 'check-prereqs'))
@@ -58,22 +57,31 @@ def run_command(command, check=True, interactive=False):
         return e.returncode
 
 
-def _read_lcp_env_value(key):
-    env_path = os.path.join(PROJECT_ROOT, 'src', 'lucy_control_panel', '.env')
+def _read_env_value(env_path, key):
     if not os.path.exists(env_path):
         return None
     value = None
     try:
         with open(env_path, 'r') as f:
             for line in f:
                 stripped = line.strip()
+                if stripped.startswith('#') or '=' not in stripped:
+                    continue
                 if stripped.startswith(f"{key}="):
                     value = stripped.split('=', 1)[1].strip().strip('"').strip("'")
     except OSError:
         return None
     return value
 
 
+def _read_lcp_env_value(key):
+    return _read_env_value(os.path.join(PROJECT_ROOT, 'src', 'lucy_control_panel', '.env'), key)
+
+
+def _read_root_env_value(key):
+    return _read_env_value(os.path.join(PROJECT_ROOT, '.env'), key)
+
+
 def _lcp_container_port():
     val = _read_lcp_env_value('VITE_PORT')
     if val and val.isdigit():
@@ -185,11 +193,14 @@ def launch_workspace():
     lcp_host_port = lcp_container_port
     lcp_scheme = _lcp_scheme()
 
+    val = _read_root_env_value('PORT_ROSBRIDGE')
+    rosbridge_host_port = int(val) if val and val.isdigit() else 9090
+
     docker_cmd = [
         'docker', 'run', '-it', '--rm',
         *install_ops.docker_run_platform_args(PROJECT_ROOT),
         '--name', 'lucy_dev_win',
-        '-p', f'{ROSBRIDGE_PORT}:9090',
+        '-p', f'{rosbridge_host_port}:9090',
         '-p', f'{lcp_host_port}:{lcp_container_port}',
         '-v', volume_mapping,
         '-e', f'LUCY_LCP_PUBLISHED_HOST_PORT={lcp_host_port}',