seb/saltylab-firmware
1
0
Fork 0
Code Issues Pull Requests 3 Actions Packages Projects Releases Wiki Activity

feat: Waveshare SIM7600X 4G HAT — cellular connectivity + GPS #58

New Issue
Closed
opened 2026-03-01 00:12:03 -05:00 by seb · 0 comments
seb commented 2026-03-01 00:12:03 -05:00
Owner
Copy Link

Summary

Add cellular (4G LTE) connectivity and GPS to SaltyLab for remote operation and outdoor tracking.

Hardware (already owned)

  • Waveshare SIM7600X 4G HAT
    • SIMCom SIM7600A-H module
    • LTE Cat-4 (150Mbps DL / 50Mbps UL)
    • Built-in GNSS (GPS/GLONASS/BeiDou/Galileo)
    • UART + USB interfaces
    • Nano-SIM slot (physical SIM only, no eSIM)
    • IMEI: 868002203507276

What it enables

  1. Remote telemetry — monitor SaltyLab from anywhere over cellular
  2. Remote control — send commands when out of WiFi range
  3. GPS tracking — coarse outdoor position, ride route logging
  4. Fallback comms — if WiFi drops during outdoor operation

Integration plan

  • Connect to Orin Nano via USB (USB-to-UART on the HAT)
  • ROS2 node for GPS: publish /gps/fix (sensor_msgs/NavSatFix)
  • 4G connection managed by NetworkManager or pppd
  • Optional: MQTT over cellular back to home base

Tasks

  • Get nano-SIM with data plan (prepaid Fido/Koodo)
  • Mount on SaltyLab (GPIO header or USB to Orin)
  • ROS2 saltybot_cellular package
  • GPS → NavSatFix publisher
  • Test cellular latency for remote command viability
  • Integrate GPS with Nav2 for outdoor waypoint navigation
## Summary Add cellular (4G LTE) connectivity and GPS to SaltyLab for remote operation and outdoor tracking. ## Hardware (already owned) - **Waveshare SIM7600X 4G HAT** - SIMCom SIM7600A-H module - LTE Cat-4 (150Mbps DL / 50Mbps UL) - Built-in GNSS (GPS/GLONASS/BeiDou/Galileo) - UART + USB interfaces - Nano-SIM slot (physical SIM only, no eSIM) - IMEI: 868002203507276 ## What it enables 1. **Remote telemetry** — monitor SaltyLab from anywhere over cellular 2. **Remote control** — send commands when out of WiFi range 3. **GPS tracking** — coarse outdoor position, ride route logging 4. **Fallback comms** — if WiFi drops during outdoor operation ## Integration plan - Connect to Orin Nano via USB (USB-to-UART on the HAT) - ROS2 node for GPS: publish `/gps/fix` (sensor_msgs/NavSatFix) - 4G connection managed by NetworkManager or `pppd` - Optional: MQTT over cellular back to home base ## Tasks - [ ] Get nano-SIM with data plan (prepaid Fido/Koodo) - [ ] Mount on SaltyLab (GPIO header or USB to Orin) - [ ] ROS2 `saltybot_cellular` package - [ ] GPS → NavSatFix publisher - [ ] Test cellular latency for remote command viability - [ ] Integrate GPS with Nav2 for outdoor waypoint navigation
sl-controls was assigned by sl-jetson 2026-03-01 00:41:34 -05:00
seb closed this issue 2026-03-01 00:51:17 -05:00
Sign in to join this conversation.
No Branch/Tag Specified
Branches Tags
Labels
No items
No Label
Milestone
No items
No Milestone
Projects
Clear projects
No project
Assignees
Clear assignees
shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
No Assignees sl-controls
1 Participants
Notifications
Due Date
No due date set.
Dependencies

No dependencies set.

Reference: seb/saltylab-firmware#58
No description provided.
Delete Branch "%!s()"

Deleting a branch is permanent. Although the deleted branch may continue to exist for a short time before it actually gets removed, it CANNOT be undone in most cases. Continue?