sl-perception
e0987fcec8
Implements Phase 2d outdoor autonomous navigation for SaltyBot. GPS source: SIM7600X /gps/fix from PR #65 (saltybot_cellular). saltybot_outdoor package: - osm_router_node: Overpass API + A* haversine graph + Douglas-Peucker simplification, /outdoor/route (Path) + /outdoor/waypoints (PoseArray) - gps_waypoint_follower_node: GPS->Nav2 navigate_through_poses bridge, quality-adaptive tolerances (2m cellular / 0.30m RTK) - geofence_node: ray-casting polygon safety, emergency stop on violation - outdoor_nav.launch.py: dual-EKF + navsat_transform + all nodes - outdoor_nav_params.yaml: 1.5m/s, no static_layer, 2m GPS tolerance - ekf_outdoor.yaml: robot_localization dual-EKF + navsat_transform - geofence_vertices.yaml: template with usage instructions docker-compose.yml: fix malformed saltybot-surround block; add saltybot-outdoor service (depends on saltybot-nav2, OSM NVMe cache) SLAM-SETUP-PLAN.md: Phase 2d done RTK upgrade: SIM7600X (+-2.5m) -> ZED-F9P (+-2cm), set use_rtk:=true Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
310 lines
9.5 KiB
YAML
310 lines
9.5 KiB
YAML
version: "3.8"
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# Jetson Orin Nano Super — ROS2 Humble SLAM stack
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# Run with: docker compose up -d
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# Requires: NVIDIA Container Toolkit (JetPack 6) on host
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services:
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# ── Core ROS2 + SLAM node ─────────────────────────────────────────────────
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saltybot-ros2:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-ros2
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restart: unless-stopped
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runtime: nvidia
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privileged: false
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network_mode: host
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environment:
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- NVIDIA_VISIBLE_DEVICES=all
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- NVIDIA_DRIVER_CAPABILITIES=all
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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- ROS_DOMAIN_ID=42
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- DISPLAY=${DISPLAY:-:0}
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volumes:
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- /tmp/.X11-unix:/tmp/.X11-unix:rw
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- ./ros2_ws/src:/ros2_ws/src:rw
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- /mnt/nvme/saltybot/maps:/maps
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- /mnt/nvme/saltybot:/data:rw
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- ./config:/config:ro
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devices:
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- /dev/rplidar:/dev/rplidar
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- /dev/stm32-bridge:/dev/stm32-bridge
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- /dev/bus/usb:/dev/bus/usb
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- /dev/i2c-7:/dev/i2c-7
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- /dev/video0:/dev/video0
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- /dev/video2:/dev/video2
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- /dev/video4:/dev/video4
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- /dev/video6:/dev/video6
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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ros2 launch saltybot_bringup slam_rtabmap.launch.py
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"
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# ── RPLIDAR driver node ────────────────────────────────────────────────────
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rplidar:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-rplidar
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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environment:
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- ROS_DOMAIN_ID=42
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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devices:
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- /dev/rplidar:/dev/rplidar
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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ros2 launch rplidar_ros rplidar_a1_launch.py
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serial_port:=/dev/rplidar
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frame_id:=laser
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"
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# ── RealSense D435i driver node ────────────────────────────────────────────
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realsense:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-realsense
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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environment:
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- ROS_DOMAIN_ID=42
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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devices:
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- /dev/bus/usb:/dev/bus/usb
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volumes:
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- /dev:/dev
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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ros2 launch realsense2_camera rs_launch.py
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enable_color:=true
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enable_depth:=true
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enable_gyro:=true
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enable_accel:=true
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unite_imu_method:=linear_interpolation
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depth_module.profile:=640x480x30
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rgb_camera.profile:=640x480x30
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"
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# ── STM32 bridge node (bidirectional serial<->ROS2) ────────────────────────
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stm32-bridge:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-stm32-bridge
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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environment:
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- ROS_DOMAIN_ID=42
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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devices:
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- /dev/stm32-bridge:/dev/stm32-bridge
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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ros2 launch saltybot_bridge bridge.launch.py
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mode:=bidirectional
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serial_port:=/dev/stm32-bridge
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"
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# ── 4x IMX219 CSI cameras ──────────────────────────────────────────────────
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csi-cameras:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-csi-cameras
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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privileged: true
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environment:
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- ROS_DOMAIN_ID=42
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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- NVIDIA_VISIBLE_DEVICES=all
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- NVIDIA_DRIVER_CAPABILITIES=all
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devices:
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- /dev/video0:/dev/video0
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- /dev/video2:/dev/video2
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- /dev/video4:/dev/video4
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- /dev/video6:/dev/video6
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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ros2 launch saltybot_cameras csi_cameras.launch.py
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width:=640
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height:=480
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fps:=30
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"
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# ── Surround vision — 360 bird's-eye view + Nav2 camera obstacle layer ─────
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saltybot-surround:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-surround
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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depends_on:
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- csi-cameras
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environment:
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- NVIDIA_VISIBLE_DEVICES=all
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- NVIDIA_DRIVER_CAPABILITIES=all
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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- ROS_DOMAIN_ID=42
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volumes:
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- ./ros2_ws/src:/ros2_ws/src:rw
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- ./config:/config:ro
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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source /ros2_ws/install/local_setup.bash 2>/dev/null || true &&
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ros2 launch saltybot_surround surround_vision.launch.py
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start_cameras:=false
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camera_height:=0.30
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publish_rate:=5.0
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"
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# ── rosbridge WebSocket server — ws://jetson:9090 ──────────────────────────
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rosbridge:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-rosbridge
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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depends_on:
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- saltybot-ros2
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- stm32-bridge
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- csi-cameras
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environment:
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- ROS_DOMAIN_ID=42
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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volumes:
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- ./ros2_ws/src:/ros2_ws/src:rw
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- ./config:/config:ro
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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source /ros2_ws/install/local_setup.bash 2>/dev/null || true &&
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ros2 launch saltybot_bringup rosbridge.launch.py
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"
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# -- Remote e-stop bridge (MQTT over 4G -> STM32 CDC) ----------------------
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# Subscribes to saltybot/estop MQTT topic. {"kill":true} -> 'E
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' to STM32.
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# Cellular watchdog: 5s MQTT drop in AUTO mode -> 'F
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' (ESTOP_CELLULAR_TIMEOUT).
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remote-estop:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-remote-estop
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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depends_on:
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- stm32-bridge
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environment:
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- ROS_DOMAIN_ID=42
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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devices:
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- /dev/stm32-bridge:/dev/stm32-bridge
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volumes:
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- ./ros2_ws/src:/ros2_ws/src:rw
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- ./config:/config:ro
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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source /ros2_ws/install/local_setup.bash 2>/dev/null || true &&
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pip install paho-mqtt --quiet 2>/dev/null || true &&
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ros2 launch saltybot_bridge remote_estop.launch.py
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"
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# ── Nav2 autonomous navigation stack ──────────────────────────────────────
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saltybot-nav2:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-nav2
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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depends_on:
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- saltybot-ros2
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environment:
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- NVIDIA_VISIBLE_DEVICES=all
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- NVIDIA_DRIVER_CAPABILITIES=all
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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- ROS_DOMAIN_ID=42
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volumes:
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- ./ros2_ws/src:/ros2_ws/src:rw
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- ./config:/config:ro
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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source /ros2_ws/install/local_setup.bash 2>/dev/null || true &&
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ros2 launch saltybot_bringup nav2.launch.py
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"
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# ── Outdoor navigation — OSM routing + GPS waypoints + geofence ───────────
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# Start only for outdoor missions. Usage:
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# ros2 param set /osm_router goal_lat 37.7749
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# ros2 param set /osm_router goal_lon -122.4194
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# ros2 service call /outdoor/plan_route std_srvs/srv/Trigger '{}'
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# ros2 service call /outdoor/start_navigation std_srvs/srv/Trigger '{}'
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saltybot-outdoor:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-outdoor
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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depends_on:
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- saltybot-nav2
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environment:
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- NVIDIA_VISIBLE_DEVICES=all
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- NVIDIA_DRIVER_CAPABILITIES=all
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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- ROS_DOMAIN_ID=42
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volumes:
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- ./ros2_ws/src:/ros2_ws/src:rw
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- ./config:/config:ro
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- /mnt/nvme/saltybot/osm_cache:/data/osm_cache:rw
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devices:
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- /dev/sim7600:/dev/sim7600
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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source /ros2_ws/install/local_setup.bash 2>/dev/null || true &&
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ros2 launch saltybot_outdoor outdoor_nav.launch.py
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use_rtk:=false
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fence_active:=true
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"
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volumes:
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saltybot-maps:
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driver: local
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