seb/saltylab-firmware
1
0
Fork 0
Code Issues Pull Requests 5 Actions Packages Projects Releases Wiki Activity
704 Commits 390 Branches 0 Tags
Commit Graph

3 Commits

Author SHA1 Message Date
sl-jetson
a506989af6 feat: CANable 2.0 bringup with udev rule and systemd service (Issue #643) 
- udev: 70-canable.rules — gs_usb VID/PID 1d50:606f, names iface can0 and brings it up at 500 kbps on plug-in
- systemd: can-bringup.service — oneshot service bound to sys-subsystem-net-devices-can0.device
- scripts: can_setup.sh — manual up/down/verify helper; candump verify for VESC IDs 61 (0x3D) and 79 (0x4F)
- install_systemd.sh updated to install can-bringup.service and all udev rules

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-03-17 09:49:21 -04:00
sl-jetson
062c05cac0 feat: Add Issue #502 - Headscale VPN auto-connect on Orin 
Configure Jetson Orin with Tailscale client connecting to Headscale
coordination server at tailscale.vayrette.com:8180. Device registers
as 'saltylab-orin' with persistent auth key for unattended login.

Features:
- systemd auto-start and restart on WiFi drops
- Persistent auth key storage at /opt/saltybot/tailscale-auth.key
- SSH + HTTP access over Tailscale tailnet (encrypted WireGuard)
- IP forwarding enabled for relay/exit node capability
- WiFi resilience with aggressive restart policy
- MQTT reporting of VPN status, IP, and connection type

Components added:
- jetson/scripts/setup-tailscale.sh: Tailscale package installation
- jetson/scripts/headscale-auth-helper.sh: Auth key management utility
- jetson/systemd/tailscale-vpn.service: systemd service unit
- jetson/docs/headscale-vpn-setup.md: Comprehensive setup documentation
- saltybot_cellular/vpn_status_node.py: ROS2 node for MQTT reporting

Updated:
- jetson/systemd/install_systemd.sh: Include tailscale-vpn.service
- jetson/scripts/setup-jetson.sh: Add Tailscale setup steps

Access patterns:
- SSH: ssh user@saltylab-orin.tail12345.ts.net
- HTTP: http://saltylab-orin.tail12345.ts.net:port
- Direct IP: 100.x.x.x (Tailscale allocated address)

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
 2026-03-06 10:25:04 -05:00
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