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14 Commits

Author SHA1 Message Date
sl-perception
dc01efe323 feat: 4x IMX219 surround vision + Nav2 camera obstacle layer (Phase 2c) 
New ROS2 package saltybot_surround:

surround_costmap_node
  - Subscribes to /camera/{front,left,rear,right}/image_raw
  - Detects obstacles via Canny edge detection + ground projection
  - Pinhole back-projection: pixel row → forward distance (d = h*fy/(v-cy))
  - Rotates per-camera points to base_link frame using known camera yaws
  - Publishes /surround_vision/obstacles (PointCloud2, 5 Hz)
  - Catches chairs, glass walls, people that RPLIDAR misses
  - Placeholder IMX219 fisheye calibration (hook for real cal via cv2.fisheye)

surround_vision_node
  - IPM homography computed from camera height + pinhole model
  - 4× bird's-eye patches composited into 240×240px 360° overhead view
  - Publishes /surround_vision/birdseye (Image, 10 Hz)
  - Robot footprint + compass overlay

surround_vision.launch.py
  - Launches both nodes with surround_vision_params.yaml
  - start_cameras arg: set false when csi-cameras container runs separately

Updated:
- jetson/config/nav2_params.yaml   add surround_cameras PointCloud2 source
                                    to local + global costmap obstacle_layer
- jetson/docker-compose.yml        add saltybot-surround service
                                    (depends_on: csi-cameras, start_cameras:=false)
- projects/saltybot/SLAM-SETUP-PLAN.md  Phase 2c ✅ Done

Calibration TODO (run after hardware assembly):
  ros2 run camera_calibration cameracalibrator --size 8x6 --square 0.025 \
    image:=/camera/front/image_raw camera:=/camera/front
  Replace placeholder K/D in surround_costmap_node._undistort()

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-02-28 23:19:23 -05:00
seb
5008e03cc4 Merge pull request 'feat: Orin Nano Super platform update + 4x IMX219 CSI cameras' (#51) from sl-jetson/orin-platform-cameras into main 2026-02-28 23:08:49 -05:00
seb
54d3e12c78 Merge pull request 'feat: Phase 2a URDF robot description + static TF for SLAM/Nav2' (#50) from sl-firmware/robot-urdf into main 2026-02-28 23:08:46 -05:00
sl-jetson
3755e235aa 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>
 2026-02-28 22:59:13 -05:00
seb
3f627ac3c8 Merge pull request 'feat: Nav2 path planning + obstacle avoidance (Phase 2b)' (#49) from sl-perception/nav2-integration into main 2026-02-28 22:58:49 -05:00
sl-firmware
b4bb6a44e0 feat: Phase 2a URDF robot description for SLAM and Nav2 
Add saltybot_description ROS2 package with full kinematic model:

urdf/saltybot.urdf.xacro
  - base_footprint → base_link (axle_height = 0.310m, from AXLE_HEIGHT SCAD)
  - wheel_left/right_link (continuous, separation=0.600m, radius=0.1015m)
  - imu_link (FC/MPU-6000 at x=+50mm forward, z=+12mm)
  - stem_link (visual: 38.1mm EMT, 1.050m — from stem_battery_clamp.scad)
  - sensor_head_link at top of stem
    - laser (RPLIDAR A1M8, z=COL_H=36mm — frame matches slam_toolbox config)
    - camera_link (RealSense D435i, ARM_R=50mm — matches realsense2_camera)
    - camera_{front,left,rear,right}_link (IMX219, 10° down tilt, ARM_R=50mm
      — positions match camera_tf.launch.py; that file superseded when live)

config/saltybot_properties.yaml
  All dimensions from chassis/chassis_frame.scad + ASSEMBLY.md Rev A.

launch/robot_description.launch.py
  Compiles xacro at launch time, runs robot_state_publisher.
  Publishes /robot_description + /tf_static for all fixed joints.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-02-28 22:57:58 -05:00
sl-perception
772a70b545 feat: Nav2 path planning + obstacle avoidance (Phase 2b) 
Integrates Nav2 autonomous navigation stack with RTAB-Map SLAM on Orin
Nano Super. No AMCL/map_server needed — RTAB-Map provides /map + TF.

New files:
- jetson/config/nav2_params.yaml                           DWB controller,
  NavFn planner, RPLIDAR obstacle layer, RealSense voxel layer;
  10Hz local / 5Hz global costmap; robot_radius 0.15m, max_vel 1.0 m/s
- jetson/ros2_ws/src/saltybot_bringup/launch/nav2.launch.py
  wraps nav2_bringup navigation_launch with saltybot params + BT XML
- jetson/ros2_ws/src/saltybot_bringup/behavior_trees/
    navigate_to_pose_with_recovery.xml  BT: replan@1Hz, DWB follow,
    recovery: clear maps → spin 90° → wait 5s → back up 0.30m

Updated:
- jetson/docker-compose.yml             add saltybot-nav2 service
                                        (depends_on: saltybot-ros2)
- jetson/ros2_ws/src/saltybot_bringup/setup.py   install behavior_trees/*.xml
- jetson/ros2_ws/src/saltybot_bringup/package.xml add rtabmap_ros + nav2_bringup
- projects/saltybot/SLAM-SETUP-PLAN.md  Phase 2b ✅ Done

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-02-28 22:54:24 -05:00
sl-controls
a50f22d56b feat: Nav2 cmd_vel to STM32 autonomous drive bridge 
Adds cmd_vel_bridge_node — a standalone ROS2 node that subscribes to
Nav2 /cmd_vel and drives the STM32 over USB CDC with:
  - Hard velocity limits (max_linear_vel=0.5 m/s, max_angular_vel=2.0 rad/s)
  - Smooth ESC ramp (500 ESC-units/s, 50 Hz control loop)
  - Deadman switch: zeros targets if /cmd_vel silent >500 ms
  - Mode gate: sends drive only when STM32 reports md=2 (AUTONOMOUS)
  - Telemetry RX → /saltybot/imu, /saltybot/balance_state, /diagnostics
  - Heartbeat TX every 200 ms (H\n)

Deliverables:
  saltybot_bridge/cmd_vel_bridge_node.py   — node implementation
  config/cmd_vel_bridge_params.yaml        — tunable parameters
  launch/cmd_vel_bridge.launch.py          — standalone launch file
  test/test_cmd_vel_bridge.py              — 37 pytest unit tests (no ROS2)
  setup.py                                 — register node + new data files

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-02-28 22:50:15 -05:00
sl-perception
c5d6a72d39 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 21:46:27 -05:00
sl-jetson
22aaeb02cf feat: Jetson→STM32 command protocol — /cmd_vel to serial (Phase 2) 
STM32 firmware (C):
- include/jetson_cmd.h: protocol constants (HB_TIMEOUT_MS=500,
  SPEED_MAX_DEG=4°), API for jetson_cmd_process/is_active/steer/sp_offset
- src/jetson_cmd.c: main-loop parser for buffered C<spd>,<str> frames;
  setpoint offset = speed/1000 * 4°; steer clamped ±1000
- lib/USB_CDC/src/usbd_cdc_if.c: add H (heartbeat) and C (drive cmd) to
  CDC_Receive ISR — follows existing pattern: H updates jetson_hb_tick in
  ISR, C copied to jetson_cmd_buf for main-loop sscanf (avoids sscanf in IRQ)
- src/main.c: integrate jetson_cmd — process buffered frame, apply setpoint
  offset around balance_update(), inject steer into motor_driver_update()
  only when heartbeat alive (fallback: steer=0, setpoint unchanged)

ROS2 (Python):
- saltybot_cmd_node.py: full bidirectional node — owns serial port, handles
  telemetry RX → topics AND /cmd_vel TX → C<spd>,<str>\n + H\n heartbeat
  200ms timer; sends C0,0\n on shutdown; speed/steer_scale configurable
- serial_bridge_node.py: add write_serial() helper for extensibility
- launch/bridge.launch.py: mode arg (bidirectional|rx_only) selects node
- config/bridge_params.yaml: heartbeat_period, speed_scale, steer_scale docs
- test/test_cmd.py: 13 tests — zero, full fwd/rev, turn clamping, combined
- setup.py: saltybot_cmd_node entry point

All 21 tests pass (8 parse + 13 cmd).

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-02-28 21:07:15 -05:00
seb
a89297f1d4 Merge pull request 'feat(bd-a2j): Sensor driver integration — RealSense D435i + RPLIDAR A1M8' (#17) from sl-perception/bd-a2j-sensor-drivers into main 2026-02-28 17:19:41 -05:00
sl-perception
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
sl-jetson
7c4e46aaa1 feat: STM32-to-Jetson ROS2 serial bridge node 
saltybot_bridge ROS2 Python package (ament_python):
- serial_bridge_node.py: reads USB CDC JSON telemetry from STM32F722 at 50Hz
  Parses exact firmware format: {"p","r","e","ig","m","s","y"} (all ×10 ints)
  State enum: 0=DISARMED, 1=ARMED, 2=TILT_FAULT (matched to balance_state_t)
- Publishes sensor_msgs/Imu on /saltybot/imu (pitch/roll/yaw as angular_velocity)
- Publishes std_msgs/String on /saltybot/balance_state (full PID JSON diagnostics)
- Publishes diagnostic_msgs/DiagnosticArray on /diagnostics (OK/WARN/ERROR by state)
- Auto-reconnects on serial disconnect; IMU fault frames → ERROR diagnostic
- launch/bridge.launch.py with serial_port + baud_rate launch args
- config/bridge_params.yaml (921600 baud, /dev/ttyACM0)
- test/test_parse.py: 8 unit tests covering normal, fault, edge cases (all pass)

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-02-28 17:11:02 -05:00
sl-jetson
c47ac41573 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>
 2026-02-28 12:46:14 -05:00