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c47ac41573
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feat: Jetson Nano platform setup and Docker env (bd-1hcg)
- Dockerfile: L4T R32.6.1 (JetPack 4.6) base + ROS2 Humble + SLAM stack
(slam_toolbox, Nav2, rplidar_ros, realsense2_camera, robot_localization)
- docker-compose.yml: multi-service stack (ROS2, RPLIDAR A1M8, D435i, STM32 bridge)
with device passthrough, host networking for DDS, persistent map volume
- docs/pinout.md: full GPIO/I2C/UART pinout for STM32F722 bridge (USB CDC +
UART fallback), RealSense D435i (USB3), RPLIDAR A1M8, udev rules
- docs/power-budget.md: 10W envelope analysis with per-component breakdown,
mitigation strategies (RPLIDAR gating, D435i 640p, nvpmodel modes)
- scripts/setup-jetson.sh: host one-shot setup (Docker, nvidia-container-runtime,
udev rules, MAXN power mode, swap)
- scripts/build-and-run.sh: build/up/down/shell/slam/status helper
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-02-28 12:46:14 -05:00 |
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