|
|
3755e235aa
|
feat: Orin Nano Super platform update + 4x IMX219 CSI cameras
Task A — Orin Nano Super platform update:
- docker-compose.yml: update header/comments, switch all service image tags
to jetson-orin, update devices to udev symlinks (/dev/rplidar,
/dev/stm32-bridge, i2c-7), add NVMe volume mounts (/mnt/nvme/saltybot),
update stm32-bridge to saltybot_bridge launch, add csi-cameras service
- docs/pinout.md: full rewrite for Orin Nano Super — i2c-7, ttyTHS0,
CSI-A/B connectors, M.2 NVMe slot, IMX219 15-pin FFC pinout, V4L2 nodes,
GStreamer test commands, updated udev rules
- docs/power-budget.md: full rewrite — 25W TDP, 8GB LPDDR5, 67 TOPS,
4-camera CSI bandwidth analysis, nvpmodel modes, Nano vs Orin comparison,
5V 6A PSU recommendation, 4S LiPo architecture
- scripts/setup-jetson.sh: full rewrite — JetPack 6 / Ubuntu 22.04,
nvidia-container-toolkit new keyring method, NVMe partition/format/fstab,
CSI driver check (imx219 modprobe), video group, jtop install, 8GB swap
Task B — saltybot_cameras ROS2 package:
- launch/csi_cameras.launch.py: 4x v4l2_camera nodes, namespace per camera
(front/left/rear/right), 640x480x30fps, includes TF launch automatically
- launch/camera_tf.launch.py: static TF for 4 cameras at 90deg intervals
on sensor_head_link (r=5cm offset), yaw 0/90/180/-90 deg
- package.xml, setup.py, setup.cfg, __init__.py, resource marker
- config/cameras_params.yaml: per-camera device/frame/offset configuration
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
|
2026-02-28 22:59:13 -05:00 |
|
