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9239df4d26
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feat: Add FC↔Orin UART verification (Issue #362)
Implements UART bridge verification between Flight Controller (STM32F722)
and Jetson Orin.
Changes:
1. jetson/scripts/uart_test.py (12.7 KB)
- Opens /dev/ttyTHS1 at 921600 baud
- Sends jlink binary test frames (PING, VERSION, ECHO)
- Verifies CRC16-CCITT frame integrity
- Logs transactions with timestamps
- JSON result export and optional MQTT publishing
2. jetson/ros2_ws/src/saltybot_bridge/launch/uart_bridge.launch.py
- ROS2 launch file for serial_bridge_node on UART port
- Configurable port (default /dev/ttyTHS1), baud rate (921600)
- Bridges FC telemetry to /saltybot/imu, /saltybot/balance_state
- Publishes diagnostics to /diagnostics
Usage:
Test: sudo python3 jetson/scripts/uart_test.py
Launch: ros2 launch saltybot_bridge uart_bridge.launch.py
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
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2026-03-03 17:30:31 -05:00 |
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a9b2242a2c
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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>
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2026-03-02 08:08:57 -05:00 |
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3755e235aa
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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>
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2026-02-28 22:59:13 -05:00 |
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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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