sl-jetson
c47ac41573
- 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>
128 lines
5.2 KiB
Bash
128 lines
5.2 KiB
Bash
#!/usr/bin/env bash
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# Jetson Nano host setup script
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# Run once on fresh JetPack 4.6 installation
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# Usage: sudo bash setup-jetson.sh
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set -euo pipefail
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echo "=== Jetson Nano Host Setup — saltybot ==="
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echo "JetPack 4.6 / L4T R32.6.1 expected"
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# ── Verify we're on Jetson ────────────────────────────────────────────────────
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if ! uname -m | grep -q aarch64; then
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echo "ERROR: Must run on Jetson (aarch64). Got: $(uname -m)"
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exit 1
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fi
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# ── System update ─────────────────────────────────────────────────────────────
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apt-get update && apt-get upgrade -y
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# ── Install Docker + NVIDIA runtime ──────────────────────────────────────────
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if ! command -v docker &>/dev/null; then
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echo "[+] Installing Docker..."
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curl -fsSL https://get.docker.com | sh
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usermod -aG docker "$SUDO_USER"
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fi
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# NVIDIA container runtime
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if ! dpkg -l | grep -q nvidia-container-runtime; then
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echo "[+] Installing NVIDIA Container Runtime..."
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distribution=$(. /etc/os-release; echo $ID$VERSION_ID)
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curl -s -L https://nvidia.github.io/libnvidia-container/gpgkey | apt-key add -
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curl -s -L "https://nvidia.github.io/libnvidia-container/$distribution/libnvidia-container.list" \
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> /etc/apt/sources.list.d/nvidia-container-runtime.list
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apt-get update
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apt-get install -y nvidia-container-runtime
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fi
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# Configure Docker daemon for NVIDIA runtime
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cat > /etc/docker/daemon.json << 'EOF'
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{
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"runtimes": {
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"nvidia": {
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"path": "nvidia-container-runtime",
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"runtimeArgs": []
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}
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},
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"default-runtime": "nvidia"
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}
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EOF
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systemctl restart docker
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# ── Set Jetson power mode to MAXN 10W ────────────────────────────────────────
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echo "[+] Setting MAXN 10W power mode..."
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nvpmodel -m 0
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jetson_clocks
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# ── Install udev rules ────────────────────────────────────────────────────────
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echo "[+] Installing udev rules..."
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cat > /etc/udev/rules.d/99-saltybot.rules << 'EOF'
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# RPLIDAR A1M8 (SiliconLabs CP2102)
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KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", \
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SYMLINK+="rplidar", MODE="0666"
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# STM32 USB CDC (STMicroelectronics Virtual COM)
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KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", \
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SYMLINK+="stm32-bridge", MODE="0666"
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# Intel RealSense D435i
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SUBSYSTEM=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", \
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MODE="0666"
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EOF
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udevadm control --reload-rules
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udevadm trigger
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# ── Install RealSense udev rules ──────────────────────────────────────────────
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echo "[+] Installing RealSense udev rules..."
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if [ -f /etc/udev/rules.d/99-realsense-libusb.rules ]; then
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echo " Already installed."
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else
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# Download from librealsense repo
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wget -q -O /etc/udev/rules.d/99-realsense-libusb.rules \
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https://raw.githubusercontent.com/IntelRealSense/librealsense/master/config/99-realsense-libusb.rules
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udevadm control --reload-rules
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udevadm trigger
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fi
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# ── Enable I2C + UART ─────────────────────────────────────────────────────────
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echo "[+] Enabling I2C and UART..."
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modprobe i2c-dev
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# Add user to i2c and dialout groups
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usermod -aG i2c,dialout,gpio "$SUDO_USER"
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# ── Configure UART (disable console on ttyTHS1) ───────────────────────────────
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# ttyTHS1 is the 40-pin header UART — disable serial console to free it
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if grep -q "console=ttyS0" /boot/extlinux/extlinux.conf; then
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echo "[+] UART ttyTHS1 already free for application use."
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else
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echo "[!] Warning: Check /boot/extlinux/extlinux.conf if serial console"
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echo " is using ttyTHS1. Disable it to use UART for STM32 bridge."
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fi
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# ── Docker Compose ────────────────────────────────────────────────────────────
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if ! command -v docker-compose &>/dev/null && ! docker compose version &>/dev/null 2>&1; then
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echo "[+] Installing docker-compose..."
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pip3 install docker-compose
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fi
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# ── Swap (improve stability under memory pressure) ────────────────────────────
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if [ "$(swapon --show | wc -l)" -le 1 ]; then
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echo "[+] Creating 4GB swap file..."
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fallocate -l 4G /swapfile
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chmod 600 /swapfile
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mkswap /swapfile
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swapon /swapfile
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echo '/swapfile none swap sw 0 0' >> /etc/fstab
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fi
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echo ""
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echo "=== Setup complete ==="
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echo "Please log out and back in for group membership to take effect."
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echo ""
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echo "Next steps:"
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echo " 1. cd jetson/"
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echo " 2. docker compose build"
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echo " 3. docker compose up -d"
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echo " 4. docker compose logs -f"
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