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dc01efe323
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feat: 4x IMX219 surround vision + Nav2 camera obstacle layer (Phase 2c)
New ROS2 package saltybot_surround:
surround_costmap_node
- Subscribes to /camera/{front,left,rear,right}/image_raw
- Detects obstacles via Canny edge detection + ground projection
- Pinhole back-projection: pixel row → forward distance (d = h*fy/(v-cy))
- Rotates per-camera points to base_link frame using known camera yaws
- Publishes /surround_vision/obstacles (PointCloud2, 5 Hz)
- Catches chairs, glass walls, people that RPLIDAR misses
- Placeholder IMX219 fisheye calibration (hook for real cal via cv2.fisheye)
surround_vision_node
- IPM homography computed from camera height + pinhole model
- 4× bird's-eye patches composited into 240×240px 360° overhead view
- Publishes /surround_vision/birdseye (Image, 10 Hz)
- Robot footprint + compass overlay
surround_vision.launch.py
- Launches both nodes with surround_vision_params.yaml
- start_cameras arg: set false when csi-cameras container runs separately
Updated:
- jetson/config/nav2_params.yaml add surround_cameras PointCloud2 source
to local + global costmap obstacle_layer
- jetson/docker-compose.yml add saltybot-surround service
(depends_on: csi-cameras, start_cameras:=false)
- projects/saltybot/SLAM-SETUP-PLAN.md Phase 2c ✅ Done
Calibration TODO (run after hardware assembly):
ros2 run camera_calibration cameracalibrator --size 8x6 --square 0.025 \
image:=/camera/front/image_raw camera:=/camera/front
Replace placeholder K/D in surround_costmap_node._undistort()
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-02-28 23:19:23 -05:00 |
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772a70b545
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feat: Nav2 path planning + obstacle avoidance (Phase 2b)
Integrates Nav2 autonomous navigation stack with RTAB-Map SLAM on Orin
Nano Super. No AMCL/map_server needed — RTAB-Map provides /map + TF.
New files:
- jetson/config/nav2_params.yaml DWB controller,
NavFn planner, RPLIDAR obstacle layer, RealSense voxel layer;
10Hz local / 5Hz global costmap; robot_radius 0.15m, max_vel 1.0 m/s
- jetson/ros2_ws/src/saltybot_bringup/launch/nav2.launch.py
wraps nav2_bringup navigation_launch with saltybot params + BT XML
- jetson/ros2_ws/src/saltybot_bringup/behavior_trees/
navigate_to_pose_with_recovery.xml BT: replan@1Hz, DWB follow,
recovery: clear maps → spin 90° → wait 5s → back up 0.30m
Updated:
- jetson/docker-compose.yml add saltybot-nav2 service
(depends_on: saltybot-ros2)
- jetson/ros2_ws/src/saltybot_bringup/setup.py install behavior_trees/*.xml
- jetson/ros2_ws/src/saltybot_bringup/package.xml add rtabmap_ros + nav2_bringup
- projects/saltybot/SLAM-SETUP-PLAN.md Phase 2b ✅ Done
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-02-28 22:54:24 -05:00 |
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c5d6a72d39
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feat: update SLAM stack for Jetson Orin Nano Super (67 TOPS, JetPack 6)
Platform upgrade: Jetson Nano 4GB → Orin Nano Super 8GB (March 1, 2026)
All Nano-era constraints removed — power/rate/resolution limits obsolete.
Dockerfile: l4t-jetpack:r36.2.0 (JetPack 6 / Ubuntu 22.04 / CUDA 12.x),
ROS2 Humble via native apt, added ros-humble-rtabmap-ros,
ros-humble-v4l2-camera for future IMX219 CSI (Phase 2c)
New: slam_rtabmap.launch.py — Orin primary SLAM entry point
RTAB-Map with subscribe_scan (RPLIDAR) + subscribe_rgbd (D435i)
Replaces slam_toolbox as docker-compose default
New: config/rtabmap_params.yaml — Orin-optimized
DetectionRate 10Hz, MaxFeatures 1000, Grid/3D true,
TimeThr 0 (no limit), Mem/STMSize 0 (unlimited)
Updated: config/realsense_d435i.yaml — 848x480x30, pointcloud enabled
Updated: config/slam_toolbox_params.yaml — 10Hz rate, 1s map interval
Updated: SLAM-SETUP-PLAN.md — full rewrite for Orin: arch diagram,
Phase 2c IMX219 plan (4x 160° CSI surround), 25W power budget
docker-compose.yml: image tag jetson-orin, default → slam_rtabmap.launch.py
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-02-28 21:46:27 -05:00 |
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00d62a621e
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bd-wax: add SLAM setup technical plan for Jetson Nano + D435i + RPLIDAR
Scopes Phase 2 perception/SLAM integration:
- RTAB-Map (primary) + ORB-SLAM3 (fallback) recommendation with rationale
- Docker/Humble strategy on JetPack 4.6 (avoids OS reflash)
- ROS2 node graph, static TF frame, sensor params for Nano power budget
- Phased milestones: 2a SLAM bring-up, 2b Nav2 integration (separate bead)
- Power budget analysis and mitigation steps for 10W Nano constraint
Closes: bd-wax (scoping only — implementation tracking in Phase 2a checklist)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-02-28 12:17:19 -05:00 |
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