sl-mechanical
a2c554c232
- docs/: rewrite AGENTS.md, wiring-diagram.md (SAUL-TEE arch); update SALTYLAB.md, FACE_LCD_ANIMATION.md, board-viz.html, SALTYLAB-DETAILED refs - cad/: dimensions.scad FC params → ESP32-S3 BALANCE params - chassis/: ASSEMBLY.md, BOM.md, ip54_BOM.md, *.scad — FC_MOUNT_SPACING/ FC_PITCH → TBD ESP32-S3; Drone FC → MCU mount throughout - CLAUDE.md, TEAM.md: project desc → SAUL-TEE; hardware table → ESP32-S3/VESC - USB_CDC_BUG.md: marked ARCHIVED (legacy STM32 era) - AUTONOMOUS_ARMING.md: USB CDC → inter-board UART (ESP32-S3 BALANCE) - projects/saltybot/SLAM-SETUP-PLAN.md: FC/STM32F722 → BALANCE/CAN - jetson/docs/pinout.md, power-budget.md, README.md: STM32 bridge → CAN bridge - jetson/config/RECOVERY_BEHAVIORS.md: FC+Hoverboard → BALANCE+VESC - jetson/ros2_ws: stm32_protocol.py → esp32_protocol.py, stm32_cmd_node.py → esp32_cmd_node.py, mamba_protocol.py → balance_protocol.py; can_bridge_node imports updated - scripts/flash_firmware.py: DFU/STM32 → pio run -t upload - src/ include/: ARCHIVED headers added (legacy code preserved) - test/: ARCHIVED notices; STM32F722 comments marked LEGACY - ui/diagnostics_panel.html: Board/STM32 → ESP32-S3 Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
66 lines
1.8 KiB
Markdown
66 lines
1.8 KiB
Markdown
# Jetson Orin Nano Super — AI/SLAM Platform Setup
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Self-balancing robot: Jetson Orin Nano Super dev environment for ROS2 Humble + SLAM stack.
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## Stack
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| Component | Version / Part |
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|-----------|---------------|
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| Platform | Jetson Orin Nano Super 8GB |
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| JetPack | 6.x (L4T R36.x, CUDA 12.x) |
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| ROS2 | Humble Hawksbill |
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| DDS | CycloneDDS |
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| SLAM | slam_toolbox |
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| Nav | Nav2 |
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| Depth camera | Intel RealSense D435i |
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| LiDAR | RPLIDAR A1M8 |
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| MCU bridge | ESP32-S3 BALANCE (CAN bus @ 500 kbps via CANable 2.0) |
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## Quick Start
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```bash
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# 1. Host setup (once, on fresh JetPack 4.6)
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sudo bash scripts/setup-jetson.sh
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# 2. Build Docker image
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bash scripts/build-and-run.sh build
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# 3. Start full stack
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bash scripts/build-and-run.sh up
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# 4. Open ROS2 shell
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bash scripts/build-and-run.sh shell
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```
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## Docs
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- [`docs/pinout.md`](docs/pinout.md) — GPIO/I2C/UART pinout for all peripherals
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- [`docs/power-budget.md`](docs/power-budget.md) — 10W power envelope analysis
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## Files
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```
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jetson/
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├── Dockerfile # L4T base + ROS2 Humble + SLAM packages
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├── docker-compose.yml # Multi-service stack (ROS2, RPLIDAR, D435i, CAN bridge)
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├── README.md # This file
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├── docs/
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│ ├── pinout.md # GPIO/I2C/UART pinout reference
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│ └── power-budget.md # Power budget analysis (25W envelope)
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└── scripts/
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├── entrypoint.sh # Docker container entrypoint
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├── setup-jetson.sh # Host setup (udev, Docker, nvpmodel)
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└── build-and-run.sh # Build/run helper
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```
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## Power Budget (Summary)
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| Scenario | Total |
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|---------|-------|
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| Idle | 2.9W |
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| Nominal (SLAM active) | ~19.9W |
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| Peak | ~28.2W |
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Target: 25W (MAXN nvpmodel). 5W headroom at nominal load.
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See [`docs/power-budget.md`](docs/power-budget.md) for full analysis.
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