# Jetson Orin Nano Super — AI/SLAM Platform Setup

Self-balancing robot: Jetson Orin Nano Super dev environment for ROS2 Humble + SLAM stack.

## Stack

| Component | Version / Part |
|-----------|---------------|
| Platform | Jetson Orin Nano Super 8GB |
| JetPack | 6.x (L4T R36.x, CUDA 12.x) |
| ROS2 | Humble Hawksbill |
| DDS | CycloneDDS |
| SLAM | slam_toolbox |
| Nav | Nav2 |
| Depth camera | Intel RealSense D435i |
| LiDAR | RPLIDAR A1M8 |
| MCU bridge | ESP32-S3 BALANCE (CAN bus @ 500 kbps via CANable 2.0) |

## Quick Start

```bash
# 1. Host setup (once, on fresh JetPack 4.6)
sudo bash scripts/setup-jetson.sh

# 2. Build Docker image
bash scripts/build-and-run.sh build

# 3. Start full stack
bash scripts/build-and-run.sh up

# 4. Open ROS2 shell
bash scripts/build-and-run.sh shell
```

## Docs

- [`docs/pinout.md`](docs/pinout.md) — GPIO/I2C/UART pinout for all peripherals
- [`docs/power-budget.md`](docs/power-budget.md) — 10W power envelope analysis

## Files

```
jetson/
├── Dockerfile              # L4T base + ROS2 Humble + SLAM packages
├── docker-compose.yml      # Multi-service stack (ROS2, RPLIDAR, D435i, CAN bridge)
├── README.md               # This file
├── docs/
│   ├── pinout.md           # GPIO/I2C/UART pinout reference
│   └── power-budget.md     # Power budget analysis (25W envelope)
└── scripts/
    ├── entrypoint.sh       # Docker container entrypoint
    ├── setup-jetson.sh     # Host setup (udev, Docker, nvpmodel)
    └── build-and-run.sh    # Build/run helper
```

## Power Budget (Summary)

| Scenario | Total |
|---------|-------|
| Idle | 2.9W |
| Nominal (SLAM active) | ~19.9W |
| Peak | ~28.2W |

Target: 25W (MAXN nvpmodel). 5W headroom at nominal load.
See [`docs/power-budget.md`](docs/power-budget.md) for full analysis.