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feat: Jetson Nano platform setup (bd-1hcg) #8

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sl-jetson merged 1 commits from sl-jetson/bd-1hcg-jetson-platform into main 2026-02-28 13:06:49 -05:00
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sl-jetson commented 2026-02-28 12:48:28 -05:00
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Summary

  • JetPack 4.6 (L4T R32.6.1) base Dockerfile with ROS2 Humble, slam_toolbox, Nav2, rplidar_ros, realsense2_camera
  • docker-compose.yml: multi-service stack (RPLIDAR A1M8, RealSense D435i, STM32F722 bridge, SLAM node) with device passthrough and host networking for DDS
  • docs/pinout.md: full GPIO/I2C/UART pinout for STM32F722 bridge, RealSense D435i, RPLIDAR A1M8, plus udev rules and ROS2 topic mapping
  • docs/power-budget.md: 10W envelope analysis with per-component breakdown and mitigation strategies (RPLIDAR gating, 640p D435i, nvpmodel)
  • scripts/setup-jetson.sh: one-shot host setup (Docker, nvidia-container-runtime, nvpmodel MAXN, swap)
  • scripts/build-and-run.sh: build/up/down/shell/slam/status helper

Closes

bd-1hcg — Jetson Nano platform setup (P1)

Test plan

  • docker compose build succeeds on Jetson Nano with JetPack 4.6
  • docker compose up -d starts all services
  • RPLIDAR /scan topic publishes at 10Hz
  • RealSense /camera/depth/image_rect_raw and /camera/imu topics active
  • STM32 bridge connects via USB CDC at 921600 baud
  • sudo tegrastats shows <10W nominal (with RPLIDAR gating + 640p D435i)

🤖 Generated with Claude Code

## Summary - JetPack 4.6 (L4T R32.6.1) base Dockerfile with ROS2 Humble, slam_toolbox, Nav2, rplidar_ros, realsense2_camera - docker-compose.yml: multi-service stack (RPLIDAR A1M8, RealSense D435i, STM32F722 bridge, SLAM node) with device passthrough and host networking for DDS - docs/pinout.md: full GPIO/I2C/UART pinout for STM32F722 bridge, RealSense D435i, RPLIDAR A1M8, plus udev rules and ROS2 topic mapping - docs/power-budget.md: 10W envelope analysis with per-component breakdown and mitigation strategies (RPLIDAR gating, 640p D435i, nvpmodel) - scripts/setup-jetson.sh: one-shot host setup (Docker, nvidia-container-runtime, nvpmodel MAXN, swap) - scripts/build-and-run.sh: build/up/down/shell/slam/status helper ## Closes bd-1hcg — Jetson Nano platform setup (P1) ## Test plan - [ ] `docker compose build` succeeds on Jetson Nano with JetPack 4.6 - [ ] `docker compose up -d` starts all services - [ ] RPLIDAR `/scan` topic publishes at 10Hz - [ ] RealSense `/camera/depth/image_rect_raw` and `/camera/imu` topics active - [ ] STM32 bridge connects via USB CDC at 921600 baud - [ ] `sudo tegrastats` shows <10W nominal (with RPLIDAR gating + 640p D435i) 🤖 Generated with [Claude Code](https://claude.com/claude-code)
sl-jetson added 1 commit 2026-02-28 12:48:28 -05:00 
- 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>
sl-jetson merged commit 29a3030abb into main 2026-02-28 13:06:49 -05:00
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Reference: seb/saltylab-firmware#8
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