Dockerfile

# Build a Raspberry Pi 5 image of reachy-mini-os, inside Docker. Usage: see README.md.
FROM debian:bookworm

# pi-gen build tools
RUN apt-get update && apt-get install -y --no-install-recommends \
      ca-certificates git git-lfs curl \
      quilt parted debootstrap zerofree zip dosfstools e2fsprogs fdisk \
      libarchive-tools libcap2-bin rsync xz-utils file kmod bc gpg pigz xxd \
      arch-test binfmt-support qemu-user-static \
    && rm -rf /var/lib/apt/lists/*

# reachy-mini-os source (pi-gen fork) + its Git LFS files
RUN git lfs install \
 && git clone --depth 1 https://github.com/pollen-robotics/reachy-mini-os.git /pi-gen
WORKDIR /pi-gen
RUN git lfs pull

# Pi-5 boot tweaks + pinned daemon version
ARG DAEMON_VERSION=v1.8.4
RUN set -e; \
    cfg=stage1/00-boot-files/files/config.txt; \
    sed -i 's/^dtoverlay=uart3$/dtoverlay=uart2-pi5/' "$cfg"; \
    sed -i -E 's/^(dtparam=ant2)$/#\1/' "$cfg"; \
    grep -q '^\[pi5\]' "$cfg" || printf '\n[pi5]\n' >> "$cfg"; \
    sed -i -E "s/reachy-mini\[wireless-version\]==v[0-9.]+/reachy-mini[wireless-version]==${DAEMON_VERSION}/" \
        stage2/05-reachy-mini/01-run-chroot.sh

# Pi-5 runtime fixes (motors, shutdown, camera)
COPY docker/stage-pi5-fixes.sh stage2/05-reachy-mini/02-run-chroot.sh
RUN chmod +x stage2/05-reachy-mini/02-run-chroot.sh

# the build itself runs at `docker run` (needs --privileged: loop devices + ARM emulation)
COPY docker/entrypoint.sh /entrypoint.sh
RUN chmod +x /entrypoint.sh
ENTRYPOINT ["/entrypoint.sh"]