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c5d6a72d39
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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>
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2026-02-28 21:46:27 -05:00 |
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00d62a621e
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bd-wax: add SLAM setup technical plan for Jetson Nano + D435i + RPLIDAR
Scopes Phase 2 perception/SLAM integration:
- RTAB-Map (primary) + ORB-SLAM3 (fallback) recommendation with rationale
- Docker/Humble strategy on JetPack 4.6 (avoids OS reflash)
- ROS2 node graph, static TF frame, sensor params for Nano power budget
- Phased milestones: 2a SLAM bring-up, 2b Nav2 integration (separate bead)
- Power budget analysis and mitigation steps for 10W Nano constraint
Closes: bd-wax (scoping only — implementation tracking in Phase 2a checklist)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-02-28 12:17:19 -05:00 |
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