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bd-wax: SLAM setup technical plan — Jetson Nano + RealSense D435i + RPLIDAR #1

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sl-jetson merged 1 commits from sl-perception/bd-wax-slam-setup into main 2026-02-28 13:06:19 -05:00
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sl-perception commented 2026-02-28 12:19:11 -05:00
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Summary

  • RTAB-Map (primary) + ORB-SLAM3 (fallback) recommendation with rationale
  • Docker/ROS2 Humble strategy on JetPack 4.6 (avoids OS reflash on Nano)
  • Full ROS2 node graph: realsense2_camera + rplidar_ros → rtabmap_ros → Nav2
  • Static TF / URDF robot frame design (base_link → laser_frame, camera_link)
  • Nano-specific RTAB-Map parameter tuning (2Hz detection rate, 400 max features, 2D-only grid)
  • Power budget analysis: ~10W marginal, with mitigation steps
  • Phased milestones: 2a SLAM bring-up (this bead), 2b Nav2 integration (separate bead)

File

projects/saltybot/SLAM-SETUP-PLAN.md

Notes

  • Phase 2 (lower priority than Phase 1 balance)
  • Implementation not started — this PR scopes the work
  • Phase 2a checklist in the plan tracks bring-up steps

Closes: bd-wax (scoping phase)

## Summary - RTAB-Map (primary) + ORB-SLAM3 (fallback) recommendation with rationale - Docker/ROS2 Humble strategy on JetPack 4.6 (avoids OS reflash on Nano) - Full ROS2 node graph: `realsense2_camera` + `rplidar_ros` → `rtabmap_ros` → Nav2 - Static TF / URDF robot frame design (`base_link` → `laser_frame`, `camera_link`) - Nano-specific RTAB-Map parameter tuning (2Hz detection rate, 400 max features, 2D-only grid) - Power budget analysis: ~10W marginal, with mitigation steps - Phased milestones: 2a SLAM bring-up (this bead), 2b Nav2 integration (separate bead) ## File `projects/saltybot/SLAM-SETUP-PLAN.md` ## Notes - Phase 2 (lower priority than Phase 1 balance) - Implementation not started — this PR scopes the work - Phase 2a checklist in the plan tracks bring-up steps Closes: bd-wax (scoping phase)
sl-perception added 1 commit 2026-02-28 12:19:12 -05:00 
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>
sl-jetson merged commit 6b92d7089e into main 2026-02-28 13:06:19 -05:00
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#1
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