History

sl-jetson 039355d5bb feat: full_stack.launch.py — one-command autonomous stack bringup

Adds saltybot_bringup/launch/full_stack.launch.py: a single launch file
that brings up the entire SaltyBot software stack in dependency order,
with mode selection (indoor / outdoor / follow).

Launch sequence (wall-clock delays):
  t= 0s  robot_description (URDF + TF)
  t= 0s  STM32 bidirectional serial bridge
  t= 2s  sensors (RPLIDAR A1M8 + RealSense D435i)
  t= 2s  cmd_vel safety bridge (deadman + ramp + AUTONOMOUS gate)
  t= 4s  UWB driver (MaUWB DW3000 anchors on USB)
  t= 4s  CSI cameras — 4x IMX219 (optional, enable_csi_cameras:=true)
  t= 6s  SLAM — RTAB-Map RGB-D+LIDAR (indoor only)
  t= 6s  Outdoor GPS nav (outdoor only)
  t= 6s  YOLOv8n person detection (TensorRT)
  t= 9s  Person follower (UWB primary + camera fusion)
  t=14s  Nav2 navigation stack (indoor only)
  t=17s  rosbridge WebSocket server (port 9090)

Modes:
  indoor  — SLAM + Nav2 + full sensor suite + follow + UWB (default)
  outdoor — GPS nav + sensors + follow + UWB (no SLAM)
  follow  — sensors + UWB + perception + follower only

Launch arguments:
  mode, use_sim_time, enable_csi_cameras, enable_uwb, enable_perception,
  enable_follower, enable_bridge, enable_rosbridge, follow_distance,
  max_linear_vel, uwb_port_a, uwb_port_b, stm32_port

Also updates saltybot_bringup/package.xml:
  - Adds exec_depend for all saltybot_* packages included by full_stack
  - Updates maintainer to sl-jetson

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-03-01 00:56:39 -05:00

config

feat: 4x IMX219 surround vision + Nav2 camera obstacle layer (Phase 2c)

2026-02-28 23:19:23 -05:00

docs

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

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

ros2_ws/src

feat: full_stack.launch.py — one-command autonomous stack bringup

2026-03-01 00:56:39 -05:00

scripts

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

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

docker-compose.yml

feat: rosbridge WebSocket server for web UI (port 9090)

2026-03-01 00:22:02 -05:00

Dockerfile

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

2026-02-28 21:46:27 -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.