sl-jetson
40b0917c33
New package saltybot_nav2_uwb replacing AMCL-based localization with UWB-IMU EKF fused pose. Key components: - uwb_pose_bridge_node: subscribes /saltybot/pose/fused_cov (from EKF), computes map→odom TF via T_map_odom = T_map_base × inv(T_odom_base), broadcasts at 20 Hz. Publishes /initialpose on first valid pose. - waypoint_sequencer.py: pure-Python state machine (IDLE→RUNNING→ SUCCEEDED/ABORTED/CANCELED) for sequential waypoint execution. - waypoint_follower_node: action server on /saltybot/nav/follow_waypoints (nav2_msgs/FollowWaypoints), sends each goal to Nav2 NavigateToPose in sequence; JSON topic /saltybot/nav/waypoints for operator use. - nav2_uwb_params.yaml: DWB controller capped at 1.0 m/s, global+local costmap with /scan (RPLIDAR), rolling-window global costmap (no static map needed), AMCL removed from lifecycle manager. - nav2_uwb.launch.py: bridge (t=0) → Nav2 (t=2s) → waypoint follower (t=4s) with LogInfo markers. - 65 unit tests passing (waypoint dataclass, sequencer state machine, 2-D TF maths, progress tracking). Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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 peripheralsdocs/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.