History

sl-perception 1729e43964 feat(perception): MediaPipe hand tracking — Leap Motion pivot (Issue #342 )

PART 1 AUDIT: Zero Leap Motion / UltraLeap references found in any
saltybot_* package. Existing gesture_node.py (saltybot_social) already
uses MediaPipe — no cleanup required.

PART 2 NEW PACKAGES:

saltybot_hand_tracking_msgs (ament_cmake)
  - HandLandmarks.msg   — 21 landmarks (float32[63]), handedness,
                          gesture label + direction, wrist position
  - HandLandmarksArray.msg

saltybot_hand_tracking (ament_python)
  - _hand_gestures.py   — pure-Python gesture classifier (no ROS2/MP deps)
                          Vocabulary: stop (open palm) → pause/stop,
                          point (index up) → direction command + 8-compass,
                          disarm (fist) → emergency-off,
                          confirm (thumbs-up) → confirm action,
                          follow_me (peace sign) → follow mode,
                          greeting (wrist oscillation) → greeting response
                          WaveDetector: sliding-window lateral wrist tracking
  - hand_tracking_node.py — ROS2 node
                          sub: /camera/color/image_raw (BEST_EFFORT)
                          pub: /saltybot/hands (HandLandmarksArray)
                               /saltybot/hand_gesture (std_msgs/String)
                          MediaPipe model_complexity=0 (lite) for 20+ FPS
                          on Orin Nano Super; background MP init thread;
                          per-hand WaveDetector instances
  - test/test_hand_gestures.py — 35 tests, 35 passing
    Covers: Landmark, HandGestureResult, WaveDetector, all 6 gesture
    classifiers, priority ordering, direction vectors, confidence bounds

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

2026-03-03 12:47:22 -05:00

calibration

feat(calibration): IMX219 intrinsic + extrinsic calibration workflow (Issue #106 )

2026-03-02 08:38:24 -05:00

config

feat(mapping): RTAB-Map persistence + multi-session + map management (Issue #123 )

2026-03-02 09:17:54 -05:00

docs

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

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

models

feat(social): Orin dev environment — JetPack 6 + TRT conversion + systemd (#88 )

2026-03-02 08:08:57 -05:00

ros2_ws/src

feat(perception): MediaPipe hand tracking — Leap Motion pivot (Issue #342 )

2026-03-03 12:47:22 -05:00

scripts

feat(social): Orin dev environment — JetPack 6 + TRT conversion + systemd (#88 )

2026-03-02 08:08:57 -05:00

systemd

feat(social): Orin dev environment — JetPack 6 + TRT conversion + systemd (#88 )

2026-03-02 08:08:57 -05:00

docker-compose.yml

feat(social): Orin dev environment — JetPack 6 + TRT conversion + systemd (#88 )

2026-03-02 08:08:57 -05:00

Dockerfile

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

2026-02-28 21:46:27 -05:00

Dockerfile.social

feat(social): Orin dev environment — JetPack 6 + TRT conversion + systemd (#88 )

2026-03-02 08:08:57 -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.