Merge pull request 'feat(bd-a2j): Sensor driver integration — RealSense D435i + RPLIDAR A1M8' (#17) from sl-perception/bd-a2j-sensor-drivers into main

2026-02-28 17:19:41 -05:00 · 2026-02-28 17:19:41 -05:00 · a89297f1d4
commit a89297f1d4
parent f2d2df030e 76067d6d89
14 changed files with 654 additions and 1 deletions
--- a/jetson/config/realsense_d435i.yaml
+++ b/jetson/config/realsense_d435i.yaml
@ -0,0 +1,53 @@
+# RealSense D435i configuration — Jetson Nano (power-budget tuned)
+#
+# Profile format: WxHxFPS
+# Constraint: ~10W total budget. 640x480x15 saves ~0.4W vs 30fps.
+#
+# Reference topics at these settings:
+#   /camera/color/image_raw               640x480  15 Hz   RGB8
+#   /camera/depth/image_rect_raw          640x480  15 Hz   Z16
+#   /camera/aligned_depth_to_color/image_raw  640x480  15 Hz  Z16
+#   /camera/imu                           6-axis   ~200 Hz  (accel@100Hz + gyro@400Hz fused)
+#   /camera/color/camera_info             640x480  15 Hz
+#   /camera/depth/camera_info             640x480  15 Hz
+#
+# Hardware IMU: Bosch BMI055
+#   Accelerometer native rate: 100 Hz
+#   Gyroscope native rate:     400 Hz
+#   unite_imu_method=2: linearly interpolates accel to match gyro timestamps
+
+camera:
+  ros__parameters:
+    # ── Streams ──────────────────────────────────────────────────────────────
+    depth_module.profile: "640x480x15"
+    rgb_camera.profile:   "640x480x15"
+
+    enable_depth:   true
+    enable_color:   true
+    enable_infra1:  false    # not needed for RGB-D SLAM
+    enable_infra2:  false
+
+    # ── IMU ──────────────────────────────────────────────────────────────────
+    enable_gyro:          true
+    enable_accel:         true
+    # 0=none  1=copy  2=linear_interpolation
+    # Use 2: aligns accel timestamps to gyro rate, required for sensor fusion
+    unite_imu_method:     2
+
+    # ── Alignment ────────────────────────────────────────────────────────────
+    # Projects depth pixels into RGB frame — required for rtabmap_ros rgbd input
+    align_depth.enable:   true
+
+    # ── Point cloud ──────────────────────────────────────────────────────────
+    # Disabled: rtabmap_ros generates its own from aligned depth.
+    # Maxwell GPU cannot handle both simultaneously at budget.
+    pointcloud.enable:    false
+
+    # ── TF ───────────────────────────────────────────────────────────────────
+    publish_tf:       true
+    tf_publish_rate:  0.0    # 0 = publish static transforms only (no redundant timer)
+
+    # ── Device ───────────────────────────────────────────────────────────────
+    # Leave serial_no empty to auto-select first found device
+    # serial_no: ''
+    # device_type: d435i
--- a/jetson/config/rplidar_a1m8.yaml
+++ b/jetson/config/rplidar_a1m8.yaml
@ -0,0 +1,30 @@
+# RPLIDAR A1M8 configuration
+#
+# Hardware specs:
+#   Model:         RPLIDAR A1M8 (rev 6)
+#   Interface:     USB-UART via CP2102 adapter (VID:10c4 PID:ea60)
+#   Baud rate:     115200
+#   Scan rate:     ~5.5 Hz  (1440 points/scan @ 8000 samples/s)
+#   Range:         0.15 m – 12 m (reliable to ~8 m indoors)
+#   Angular res:   ~0.9° per sample
+#   Scan mode:     Standard (A1M8 only supports this mode)
+#
+# udev symlink (from jetson/docs/pinout.md 99-saltybot.rules):
+#   /dev/rplidar  →  ttyUSB* where ATTRS{idVendor}=="10c4" ATTRS{idProduct}=="ea60"
+#
+# Published topics:
+#   /scan    sensor_msgs/LaserScan    ~5.5 Hz
+#     angle_min:  -π rad  (-180°)
+#     angle_max:  +π rad  (+180°)
+#     range_min:   0.15 m
+#     range_max:  12.0 m
+#     scan_time:  ~0.182 s per revolution
+
+rplidar_node:
+  ros__parameters:
+    serial_port:       "/dev/rplidar"    # udev symlink — stable across reboots
+    serial_baudrate:   115200
+    frame_id:          "laser"           # must match TF in sensors.launch.py
+    inverted:          false             # scan direction: false = counter-clockwise
+    angle_compensate:  true              # compensate for motor rotation offset
+    scan_mode:         "Standard"        # A1M8 only supports Standard mode
--- a/jetson/config/slam_toolbox_params.yaml
+++ b/jetson/config/slam_toolbox_params.yaml
@ -0,0 +1,79 @@
+# slam_toolbox — online async SLAM configuration
+# Tuned for Jetson Nano 4GB (constrained CPU/RAM, indoor mapping)
+#
+# Input:  /scan  (LaserScan from RPLIDAR A1M8, ~5.5 Hz)
+# Output: /map   (OccupancyGrid, updated every map_update_interval seconds)
+#
+# Frame assumptions (must match sensors.launch.py static TF):
+#   map → odom → base_link → laser
+#   (odom not yet published — slam_toolbox handles this via scan matching)
+
+slam_toolbox:
+  ros__parameters:
+    # ── Frames ───────────────────────────────────────────────────────────────
+    odom_frame:   odom
+    map_frame:    map
+    base_frame:   base_link
+    scan_topic:   /scan
+    mode:         mapping    # 'mapping' or 'localization'
+
+    # ── Map params ───────────────────────────────────────────────────────────
+    resolution:            0.05    # 5 cm/cell — good balance for A1M8 angular res
+    max_laser_range:       8.0     # clip to reliable range of A1M8 (spec: 12m)
+    map_update_interval:   5.0     # seconds between full map publishes (saves CPU)
+    minimum_travel_distance:  0.3  # only update after moving 30 cm
+    minimum_travel_heading:   0.3  # or rotating ~17°
+
+    # ── Performance (Nano-specific) ───────────────────────────────────────────
+    # Reduce scan processing rate to stay within ~3.5W CPU budget
+    minimum_time_interval:  0.5   # max 2 Hz scan processing (A1M8 is ~5.5 Hz)
+    transform_timeout:      0.2
+    tf_buffer_duration:     30.0
+    stack_size_to_use:      40000000   # 40 MB stack
+    enable_interactive_mode: false     # disable interactive editing (saves CPU)
+
+    # ── Scan matching ─────────────────────────────────────────────────────────
+    use_scan_matching:    true
+    use_scan_barycenter:  true
+    scan_buffer_size:     10
+    scan_buffer_maximum_scan_distance: 10.0
+
+    # ── Loop closure ──────────────────────────────────────────────────────────
+    do_loop_closing:                      true
+    loop_match_minimum_chain_size:        10
+    loop_match_maximum_variance_coarse:   3.0
+    loop_match_minimum_response_coarse:   0.35
+    loop_match_minimum_response_fine:     0.45
+    loop_search_maximum_distance:         3.0
+
+    # ── Correlation (coarse scan matching) ───────────────────────────────────
+    correlation_search_space_dimension:      0.5
+    correlation_search_space_resolution:     0.01
+    correlation_search_space_smear_deviation: 0.1
+
+    # ── Loop search space ─────────────────────────────────────────────────────
+    loop_search_space_dimension:      8.0
+    loop_search_space_resolution:     0.05
+    loop_search_space_smear_deviation: 0.03
+
+    # ── Response expansion ────────────────────────────────────────────────────
+    link_match_minimum_response_fine:  0.1
+    link_scan_maximum_distance:        1.5
+    use_response_expansion:            true
+
+    # ── Penalties (scan matcher quality thresholds) ───────────────────────────
+    distance_variance_penalty: 0.5
+    angle_variance_penalty:    1.0
+    fine_search_angle_offset:  0.00349    # ~0.2°
+    coarse_search_angle_offset: 0.349     # ~20°
+    coarse_angle_resolution:   0.0349     # ~2°
+    minimum_angle_penalty:     0.9
+    minimum_distance_penalty:  0.5
+
+    # ── Solver ────────────────────────────────────────────────────────────────
+    solver_plugin:           solver_plugins::CeresSolver
+    ceres_linear_solver:     SPARSE_NORMAL_CHOLESKY
+    ceres_preconditioner:    SCHUR_JACOBI
+    ceres_trust_strategy:    LEVENBERG_MARQUARDT
+    ceres_dogleg_type:       TRADITIONAL_DOGLEG
+    ceres_loss_function:     None
--- a/jetson/docker-compose.yml
+++ b/jetson/docker-compose.yml
@ -29,7 +29,8 @@ services:
      # X11 socket for RViz2
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      # ROS2 workspace (host-mounted for live dev)
-      - ./ros2_ws:/ros2_ws/src:rw
+      # Mount src/ subdirectory so host structure mirrors container /ros2_ws/src/
+      - ./ros2_ws/src:/ros2_ws/src:rw
      # Persistent SLAM maps
      - saltybot-maps:/maps
      # Config files
--- a/jetson/ros2_ws/src/saltybot_bringup/SENSORS.md
+++ b/jetson/ros2_ws/src/saltybot_bringup/SENSORS.md
@ -0,0 +1,131 @@
+# saltybot_bringup — Sensor Topic Reference
+
+ROS2 Humble | ROS_DOMAIN_ID=42 | DDS: CycloneDDS
+
+---
+
+## Build & Run
+
+```bash
+# From inside the container (or ros2_ws root on host after sourcing ROS2):
+cd /ros2_ws
+colcon build --packages-select saltybot_bringup --symlink-install
+source install/local_setup.bash
+
+# Sensors only (verify data before SLAM):
+ros2 launch saltybot_bringup sensors.launch.py
+
+# Full SLAM stack (saltybot-ros2 docker-compose service uses this):
+ros2 launch saltybot_bringup slam.launch.py
+
+# Individual drivers:
+ros2 launch saltybot_bringup realsense.launch.py
+ros2 launch saltybot_bringup rplidar.launch.py
+```
+
+---
+
+## Topic Reference
+
+### RPLIDAR A1M8
+
+| Topic | Type | Rate | Notes |
+|-------|------|------|-------|
+| `/scan` | `sensor_msgs/LaserScan` | ~5.5 Hz | 360°, 1440 pts/scan, 12m range |
+
+```
+angle_min:  -π  (-180°)
+angle_max:  +π  (+180°)
+range_min:   0.15 m
+range_max:  12.00 m
+scan_time:  ~0.182 s
+frame_id:   laser
+```
+
+### Intel RealSense D435i
+
+| Topic | Type | Rate | Notes |
+|-------|------|------|-------|
+| `/camera/color/image_raw` | `sensor_msgs/Image` | 15 Hz | RGB8, 640×480 |
+| `/camera/color/camera_info` | `sensor_msgs/CameraInfo` | 15 Hz | Intrinsics |
+| `/camera/depth/image_rect_raw` | `sensor_msgs/Image` | 15 Hz | Z16, 640×480 |
+| `/camera/depth/camera_info` | `sensor_msgs/CameraInfo` | 15 Hz | Intrinsics |
+| `/camera/aligned_depth_to_color/image_raw` | `sensor_msgs/Image` | 15 Hz | Depth in color frame |
+| `/camera/imu` | `sensor_msgs/Imu` | ~200 Hz | Accel + gyro fused (linear_interpolation) |
+
+### TF Tree
+
+```
+map
+└── odom                        (published by slam_toolbox once moving)
+    └── base_link               (robot body frame)
+        ├── laser               (RPLIDAR A1M8)  ← static, 10cm above base
+        └── camera_link         (RealSense D435i) ← static, 5cm fwd, 15cm up
+            ├── camera_depth_frame
+            ├── camera_color_frame
+            └── camera_imu_frame
+```
+
+**Note:** Static TF values in `sensors.launch.py` are placeholders.
+Update after physical mount with real measurements.
+
+---
+
+## Verification Commands
+
+```bash
+# List all active topics
+ros2 topic list
+
+# Check data rates
+ros2 topic hz /scan
+ros2 topic hz /camera/color/image_raw
+ros2 topic hz /camera/imu
+
+# Spot-check data
+ros2 topic echo /scan --once
+ros2 topic echo /camera/imu --once
+
+# TF tree
+ros2 run tf2_tools view_frames
+ros2 run tf2_ros tf2_echo base_link laser
+
+# SLAM map topic (after slam.launch.py)
+ros2 topic hz /map
+ros2 topic echo /map --no-arr   # metadata without raw data flood
+```
+
+---
+
+## Troubleshooting
+
+### RPLIDAR not found
+```bash
+# Check udev symlink
+ls -la /dev/rplidar
+# If missing, fall back to:
+ros2 launch saltybot_bringup rplidar.launch.py serial_port:=/dev/ttyUSB0
+# Install udev rule (host, not container):
+sudo cp /path/to/jetson/docs/99-saltybot.rules /etc/udev/rules.d/
+sudo udevadm control --reload-rules && sudo udevadm trigger
+```
+
+### RealSense not detected
+```bash
+# Check USB3 port (blue port on Nano)
+lsusb | grep "8086:0b3a"
+# Expected: Bus 002 Device 00X: ID 8086:0b3a Intel Corp. Intel RealSense D435i
+
+# Install udev rules (host, not container):
+sudo cp /etc/udev/rules.d/99-realsense-libusb.rules /etc/udev/rules.d/
+sudo udevadm control --reload-rules && sudo udevadm trigger
+```
+
+### IMU not publishing
+```bash
+# Verify enable_gyro and enable_accel are true
+ros2 param get /camera/camera enable_gyro
+ros2 param get /camera/camera enable_accel
+# Check unite_imu_method (should be 2)
+ros2 param get /camera/camera unite_imu_method
+```
--- a/jetson/ros2_ws/src/saltybot_bringup/launch/realsense.launch.py
+++ b/jetson/ros2_ws/src/saltybot_bringup/launch/realsense.launch.py
@ -0,0 +1,85 @@
+"""
+realsense.launch.py — Intel RealSense D435i driver (standalone)
+
+Launches realsense2_camera_node with Jetson Nano power-budget settings:
+  - 640×480 @ 15fps (depth + RGB) — saves ~0.4W vs 30fps
+  - IMU enabled with linear interpolation (unified /camera/imu topic)
+  - Depth aligned to color frame
+  - Point cloud disabled (expensive on Maxwell GPU)
+
+Published topics:
+  /camera/color/image_raw          sensor_msgs/Image         15 Hz
+  /camera/color/camera_info        sensor_msgs/CameraInfo    15 Hz
+  /camera/depth/image_rect_raw     sensor_msgs/Image         15 Hz
+  /camera/depth/camera_info        sensor_msgs/CameraInfo    15 Hz
+  /camera/aligned_depth_to_color/image_raw  sensor_msgs/Image  15 Hz
+  /camera/imu                      sensor_msgs/Imu           ~200 Hz
+
+Verify:
+  ros2 topic list | grep camera
+  ros2 topic hz /camera/color/image_raw
+  ros2 topic hz /camera/imu
+"""
+
+import os
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    # Allow overriding camera serial number at launch time (useful with multiple cameras)
+    serial_no_arg = DeclareLaunchArgument(
+        'serial_no',
+        default_value="''",
+        description='RealSense device serial number (empty = first found)',
+    )
+
+    realsense_share = get_package_share_directory('realsense2_camera')
+
+    realsense_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(realsense_share, 'launch', 'rs_launch.py')
+        ),
+        launch_arguments={
+            # Camera identity
+            'serial_no':              LaunchConfiguration('serial_no'),
+            'camera_name':            'camera',
+            'camera_namespace':       'camera',
+
+            # Depth stream — 640×480 @ 15fps saves power on Nano
+            'depth_module.profile':   '640x480x15',
+            'enable_depth':           'true',
+
+            # RGB stream — matched resolution/fps to depth
+            'rgb_camera.profile':     '640x480x15',
+            'enable_color':           'true',
+
+            # IR streams — disabled (not needed for RTAB-Map RGB-D mode)
+            'enable_infra1':          'false',
+            'enable_infra2':          'false',
+
+            # IMU — enable both sensors, publish unified topic
+            'enable_gyro':            'true',
+            'enable_accel':           'true',
+            # 2 = linear_interpolation: aligns accel+gyro timestamps
+            'unite_imu_method':       '2',
+
+            # Align depth to color frame (required for rtabmap_ros RGB-D input)
+            'align_depth.enable':     'true',
+
+            # Point cloud — disabled, too expensive for Maxwell GPU during SLAM
+            'pointcloud.enable':      'false',
+
+            # TF — publish camera→IMU extrinsics
+            'publish_tf':             'true',
+            'tf_publish_rate':        '0.0',   # static only, no redundant updates
+        }.items(),
+    )
+
+    return LaunchDescription([
+        serial_no_arg,
+        realsense_launch,
+    ])
--- a/jetson/ros2_ws/src/saltybot_bringup/launch/rplidar.launch.py
+++ b/jetson/ros2_ws/src/saltybot_bringup/launch/rplidar.launch.py
@ -0,0 +1,60 @@
+"""
+rplidar.launch.py — RPLIDAR A1M8 driver (standalone)
+
+Launches rplidar_ros with udev symlink (/dev/rplidar) set in 99-saltybot.rules.
+Falls back to /dev/ttyUSB0 if the symlink is not present.
+
+RPLIDAR A1M8 specs:
+  - 360° omnidirectional scan
+  - 8000 samples/s, ~5.5 Hz scan rate at 1440 points/scan
+  - 12m range (reliable to ~8m indoors)
+  - 115200 baud via CP2102 USB-UART adapter
+
+Published topics:
+  /scan    sensor_msgs/LaserScan    ~5.5 Hz
+
+TF frame: laser → matches static_transform_publisher in sensors.launch.py
+  frame_id = 'laser'
+
+Verify:
+  ros2 topic hz /scan
+  ros2 run tf2_ros tf2_echo base_link laser
+"""
+
+import os
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    serial_port_arg = DeclareLaunchArgument(
+        'serial_port',
+        default_value='/dev/rplidar',
+        description='RPLIDAR serial port (udev symlink preferred over /dev/ttyUSB0)',
+    )
+
+    rplidar_share = get_package_share_directory('rplidar_ros')
+
+    rplidar_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(rplidar_share, 'launch', 'rplidar_a1_launch.py')
+        ),
+        launch_arguments={
+            'serial_port':      LaunchConfiguration('serial_port'),
+            'serial_baudrate':  '115200',
+            # 'laser' matches the TF frame in sensors.launch.py and slam config
+            'frame_id':         'laser',
+            # Compensate for motor rotation angle offset
+            'angle_compensate': 'true',
+            # A1M8 only supports Standard scan mode
+            'scan_mode':        'Standard',
+        }.items(),
+    )
+
+    return LaunchDescription([
+        serial_port_arg,
+        rplidar_launch,
+    ])
--- a/jetson/ros2_ws/src/saltybot_bringup/launch/sensors.launch.py
+++ b/jetson/ros2_ws/src/saltybot_bringup/launch/sensors.launch.py
@ -0,0 +1,92 @@
+"""
+sensors.launch.py — All sensor drivers + static TF
+
+Brings up both sensors together with placeholder static transforms.
+Use this to verify sensor data before running full SLAM stack.
+
+Static TF (placeholder — update with real measurements after physical mount):
+  base_link → laser         x=0.00  y=0.00  z=0.10  (RPLIDAR: 10cm above base)
+  base_link → camera_link   x=0.05  y=0.00  z=0.15  (D435i: 5cm fwd, 15cm up)
+
+Published topics summary:
+  /scan                                LaserScan    ~5.5 Hz   (RPLIDAR)
+  /camera/color/image_raw              Image        15 Hz     (D435i RGB)
+  /camera/depth/image_rect_raw         Image        15 Hz     (D435i depth)
+  /camera/aligned_depth_to_color/image_raw  Image  15 Hz     (D435i aligned)
+  /camera/imu                          Imu          ~200 Hz   (D435i IMU)
+
+Quick verification:
+  ros2 topic list
+  ros2 topic hz /scan                         # expect ~5.5 Hz
+  ros2 topic hz /camera/color/image_raw       # expect 15 Hz
+  ros2 topic hz /camera/imu                   # expect ~200 Hz
+  ros2 run tf2_tools view_frames              # check TF tree
+"""
+
+import os
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    bringup_share = get_package_share_directory('saltybot_bringup')
+
+    realsense_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(bringup_share, 'launch', 'realsense.launch.py')
+        ),
+    )
+
+    rplidar_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(bringup_share, 'launch', 'rplidar.launch.py')
+        ),
+    )
+
+    # Static TF: base_link → laser (RPLIDAR A1M8 mount position)
+    # TODO: update x/y/z/yaw with real measurements from robot chassis
+    laser_tf = Node(
+        package='tf2_ros',
+        executable='static_transform_publisher',
+        name='base_link_to_laser',
+        arguments=[
+            '--x',   '0.00',
+            '--y',   '0.00',
+            '--z',   '0.10',   # 10cm above base_link
+            '--roll',  '0',
+            '--pitch', '0',
+            '--yaw',   '0',
+            '--frame-id',       'base_link',
+            '--child-frame-id', 'laser',
+        ],
+        output='screen',
+    )
+
+    # Static TF: base_link → camera_link (RealSense D435i mount position)
+    # TODO: update x/y/z with real measurements from robot chassis
+    camera_tf = Node(
+        package='tf2_ros',
+        executable='static_transform_publisher',
+        name='base_link_to_camera',
+        arguments=[
+            '--x',   '0.05',   # 5cm forward of base_link center
+            '--y',   '0.00',
+            '--z',   '0.15',   # 15cm above base_link
+            '--roll',  '0',
+            '--pitch', '0',
+            '--yaw',   '0',
+            '--frame-id',       'base_link',
+            '--child-frame-id', 'camera_link',
+        ],
+        output='screen',
+    )
+
+    return LaunchDescription([
+        realsense_launch,
+        rplidar_launch,
+        laser_tf,
+        camera_tf,
+    ])
--- a/jetson/ros2_ws/src/saltybot_bringup/launch/slam.launch.py
+++ b/jetson/ros2_ws/src/saltybot_bringup/launch/slam.launch.py
@ -0,0 +1,62 @@
+"""
+slam.launch.py — Full SLAM stack (sensors + slam_toolbox)
+
+Entry point referenced by docker-compose.yml saltybot-ros2 service.
+
+Stack:
+  sensors.launch.py  (RPLIDAR + RealSense + static TF)
+  slam_toolbox       online_async — 2D LIDAR SLAM from /scan
+
+SLAM input:
+  /scan              LaserScan from RPLIDAR A1M8
+  /tf                base_link → laser (from sensors.launch.py)
+
+SLAM output:
+  /map               OccupancyGrid  (2D occupancy map)
+  /slam_toolbox/...  Internal slam_toolbox topics
+
+Note: slam_toolbox uses LIDAR-only SLAM (no RGB-D from D435i at this stage).
+For RGB-D SLAM (RTAB-Map), use a separate launch file once slam_toolbox
+mapping is validated — see SLAM-SETUP-PLAN.md (bd-wax) for full plan.
+
+Config: /config/slam_toolbox_params.yaml (mounted from jetson/config/)
+
+Verify:
+  ros2 topic hz /map          # expect update every ~5s (map_update_interval)
+  ros2 run rviz2 rviz2        # visualize map + scan
+"""
+
+import os
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python.packages import get_package_share_directory
+
+
+SLAM_PARAMS_FILE = '/config/slam_toolbox_params.yaml'
+
+
+def generate_launch_description():
+    bringup_share = get_package_share_directory('saltybot_bringup')
+    slam_share = get_package_share_directory('slam_toolbox')
+
+    sensors_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(bringup_share, 'launch', 'sensors.launch.py')
+        ),
+    )
+
+    slam_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(slam_share, 'launch', 'online_async_launch.py')
+        ),
+        launch_arguments={
+            'params_file':  SLAM_PARAMS_FILE,
+            'use_sim_time': 'false',
+        }.items(),
+    )
+
+    return LaunchDescription([
+        sensors_launch,
+        slam_launch,
+    ])
--- a/jetson/ros2_ws/src/saltybot_bringup/package.xml
+++ b/jetson/ros2_ws/src/saltybot_bringup/package.xml
@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>saltybot_bringup</name>
+  <version>0.1.0</version>
+  <description>SaltyBot launch files — RealSense D435i + RPLIDAR A1M8 sensor bringup and SLAM integration</description>
+  <maintainer email="sl-perception@saltylab.local">sl-perception</maintainer>
+  <license>MIT</license>
+
+  <exec_depend>rplidar_ros</exec_depend>
+  <exec_depend>realsense2_camera</exec_depend>
+  <exec_depend>realsense2_description</exec_depend>
+  <exec_depend>slam_toolbox</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
+
+  <buildtool_depend>ament_python</buildtool_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
--- a/jetson/ros2_ws/src/saltybot_bringup/resource/saltybot_bringup
+++ b/jetson/ros2_ws/src/saltybot_bringup/resource/saltybot_bringup
--- a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/init.py
+++ b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/init.py
--- a/jetson/ros2_ws/src/saltybot_bringup/setup.cfg
+++ b/jetson/ros2_ws/src/saltybot_bringup/setup.cfg
@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/saltybot_bringup
+[install]
+install_scripts=$base/lib/saltybot_bringup
--- a/jetson/ros2_ws/src/saltybot_bringup/setup.py
+++ b/jetson/ros2_ws/src/saltybot_bringup/setup.py
@ -0,0 +1,30 @@
+from setuptools import setup
+import os
+from glob import glob
+
+package_name = 'saltybot_bringup'
+
+setup(
+    name=package_name,
+    version='0.1.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+         ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'),
+         glob('launch/*.launch.py')),
+        (os.path.join('share', package_name, 'config'),
+         glob('config/*.yaml')),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='sl-perception',
+    maintainer_email='sl-perception@saltylab.local',
+    description='SaltyBot sensor bringup and SLAM launch files',
+    license='MIT',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [],
+    },
+)