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7c4e46aaa1
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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>
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2026-02-28 17:11:02 -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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