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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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