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Author SHA1 Message Date
sl-perception
26e71d7a14 feat: systemd auto-start for ROS2 + dashboard on Orin boot (bd-1hyn) 
Implements full boot-time auto-start for the SaltyBot ROS2 stack on
Jetson Orin. Everything comes up automatically after power-on with
correct dependency ordering and restart-on-failure for each service.

New systemd services:
  saltybot-ros2.service         full_stack.launch.py (perception + SLAM + Nav2)
  saltybot-esp32-serial.service ESP32-S3 BALANCE UART bridge (bd-wim1, PR #727)
  saltybot-here4.service        Here4 DroneCAN GPS bridge (bd-p47c, PR #728)
  saltybot-dashboard.service    Web dashboard on port 8080

Updated:
  saltybot.target               now Wants all four new services with
                                boot-order comments
  can-bringup.service           bitrate 500 kbps → 1 Mbps (DroneCAN for Here4)
  70-canable.rules              remove bitrate from udev RUN+=; let service
                                own the bitrate, add TAG+=systemd for device unit
  install_systemd.sh            installs all services + udev rules, colcon
                                build, enables mosquitto, usermod dialout
  full_stack.launch.py          resolve 8 merge conflict markers (ESP32-S3
                                rename) and fix missing indent on
                                enable_mission_logging_arg — file was
                                un-launchable with SyntaxError

New:
  scripts/ros2-launch.sh        sources ROS2 Humble + workspace overlay,
                                then exec ros2 launch — used by all
                                ROS2 service units via ExecStart=
  udev/80-esp32.rules           /dev/esp32-balance (CH343) and
                                /dev/esp32-io (ESP32-S3 native USB CDC)

Resolves bd-1hyn

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-04-17 22:20:40 -04:00
sl-jetson
a9b2242a2c feat(social): Orin dev environment — JetPack 6 + TRT conversion + systemd (#88) 
- Dockerfile.social: social-bot container with faster-whisper, llama-cpp-python
  (CUDA), piper-tts, insightface, pyannote.audio, OpenWakeWord, pyaudio
- scripts/convert_models.sh: TRT FP16 conversion for SCRFD-10GF, ArcFace-R100,
  ECAPA-TDNN; CTranslate2 setup for Whisper; Piper voice download; benchmark suite
- config/asound.conf: ALSA USB mic (card1) + USB speaker (card2) config
- models/README.md: version-pinned model table, /models/ layout, perf targets
- systemd/: saltybot-social.service + saltybot.target + install_systemd.sh
- docker-compose.yml: saltybot-social service with GPU, audio device passthrough,
  NVMe volume mounts for /models and /social_db

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-03-02 08:08:57 -05:00