|
|
6b798cc890
|
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>
|
2026-02-28 21:13:55 -05:00 |
|
|
|
76067d6d89
|
feat(bd-a2j): RealSense D435i + RPLIDAR A1M8 ROS2 driver integration
Adds saltybot_bringup ROS2 package with four launch files:
- realsense.launch.py — D435i at 640x480x15fps, IMU unified topic
- rplidar.launch.py — RPLIDAR A1M8 via /dev/rplidar udev symlink
- sensors.launch.py — both sensors + static TF (base_link→laser/camera)
- slam.launch.py — sensors + slam_toolbox online_async (compose entry point)
Sensor config YAMLs (mounted at /config/ in container):
- realsense_d435i.yaml — Nano power-budget settings (15fps, no pointcloud)
- rplidar_a1m8.yaml — Standard scan mode, 115200 baud, laser frame
- slam_toolbox_params.yaml — Nano-tuned (2Hz processing, 5cm resolution)
Fixes docker-compose volume mount: ./ros2_ws/src:/ros2_ws/src
(was ./ros2_ws:/ros2_ws/src — would have double-nested the src directory)
Topic reference and verification commands in SENSORS.md.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
|
2026-02-28 17:14:21 -05:00 |
|
