History

sl-mechanical fd742f6890 feat: Configure Nav2 recovery behaviors (Issue #479 )

Implement conservative recovery behaviors for autonomous navigation on FC + Hoverboard ESC drivetrain.

Recovery Sequence (round-robin, 6 retries):
  1. Clear costmaps (local + global)
  2. Spin 90° @ 0.5 rad/s max (conservative for self-balancer)
  3. Wait 5 seconds (allow dynamic obstacles to move)
  4. Backup 0.3m @ 0.1 m/s (deadlock escape, very conservative)

Configuration:
  - backup: 0.3m reverse, 0.1 m/s speed, 5s timeout
  - spin: 90° rotation, 0.5 rad/s max angular velocity
  - wait: 5-second pause for obstacle clearing
  - progress_checker: 20cm minimum movement threshold in 10s window

Safety:
  - E-stop (Issue #459) takes priority over recovery behaviors
  - Emergency stop system runs independently on STM32 firmware
  - Conservative speeds for FC + Hoverboard ESC stability

Files Modified:
  - jetson/config/nav2_params.yaml: behavior_server parameters
  - jetson/ros2_ws/src/saltybot_bringup/behavior_trees/navigate_to_pose_with_recovery.xml: BT updates
  - jetson/config/RECOVERY_BEHAVIORS.md: Configuration documentation

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>

2026-03-05 14:40:45 -05:00

calibration

feat(calibration): IMX219 intrinsic + extrinsic calibration workflow (Issue #106 )

2026-03-02 08:38:24 -05:00

config

feat: Configure Nav2 recovery behaviors (Issue #479 )

2026-03-05 14:40:45 -05:00

docs

feat: Orin Nano Super platform update + 4x IMX219 CSI cameras

2026-02-28 22:59:13 -05:00

models

feat(social): Orin dev environment — JetPack 6 + TRT conversion + systemd (#88 )

2026-03-02 08:08:57 -05:00

ros2_ws/src

feat: Configure Nav2 recovery behaviors (Issue #479 )

2026-03-05 14:40:45 -05:00

scripts

feat: Add FC↔Orin UART verification (Issue #362 )

2026-03-04 12:17:56 -05:00

systemd

feat(social): Orin dev environment — JetPack 6 + TRT conversion + systemd (#88 )

2026-03-02 08:08:57 -05:00

docker-compose.yml

feat(social): Orin dev environment — JetPack 6 + TRT conversion + systemd (#88 )

2026-03-02 08:08:57 -05:00

Dockerfile

feat: update SLAM stack for Jetson Orin Nano Super (67 TOPS, JetPack 6)

2026-02-28 21:46:27 -05:00

Dockerfile.social

feat(social): Orin dev environment — JetPack 6 + TRT conversion + systemd (#88 )

2026-03-02 08:08:57 -05:00

README.md

feat: Jetson Nano platform setup and Docker env (bd-1hcg)

2026-02-28 12:46:14 -05:00

README.md

Jetson Nano — AI/SLAM Platform Setup

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

Stack

Component	Version / Part
Platform	Jetson Nano 4GB
JetPack	4.6 (L4T R32.6.1, CUDA 10.2)
ROS2	Humble Hawksbill
DDS	CycloneDDS
SLAM	slam_toolbox
Nav	Nav2
Depth camera	Intel RealSense D435i
LiDAR	RPLIDAR A1M8
MCU bridge	STM32F722 (USB CDC @ 921600)

Quick Start

# 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 — GPIO/I2C/UART pinout for all peripherals
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, STM32)
├── README.md               # This file
├── docs/
│   ├── pinout.md           # GPIO/I2C/UART pinout reference
│   └── power-budget.md     # Power budget analysis (10W 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)	~10.2W
Peak	15.4W

Target: 10W (MAXN nvpmodel). Use RPLIDAR standby + 640p D435i for compliance. See docs/power-budget.md for full analysis.