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sl-perception c5d6a72d39 feat: update SLAM stack for Jetson Orin Nano Super (67 TOPS, JetPack 6)

Platform upgrade: Jetson Nano 4GB → Orin Nano Super 8GB (March 1, 2026)
All Nano-era constraints removed — power/rate/resolution limits obsolete.

Dockerfile: l4t-jetpack:r36.2.0 (JetPack 6 / Ubuntu 22.04 / CUDA 12.x),
  ROS2 Humble via native apt, added ros-humble-rtabmap-ros,
  ros-humble-v4l2-camera for future IMX219 CSI (Phase 2c)

New: slam_rtabmap.launch.py — Orin primary SLAM entry point
  RTAB-Map with subscribe_scan (RPLIDAR) + subscribe_rgbd (D435i)
  Replaces slam_toolbox as docker-compose default

New: config/rtabmap_params.yaml — Orin-optimized
  DetectionRate 10Hz, MaxFeatures 1000, Grid/3D true,
  TimeThr 0 (no limit), Mem/STMSize 0 (unlimited)

Updated: config/realsense_d435i.yaml — 848x480x30, pointcloud enabled
Updated: config/slam_toolbox_params.yaml — 10Hz rate, 1s map interval
Updated: SLAM-SETUP-PLAN.md — full rewrite for Orin: arch diagram,
  Phase 2c IMX219 plan (4x 160° CSI surround), 25W power budget

docker-compose.yml: image tag jetson-orin, default → slam_rtabmap.launch.py

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

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

.pio/build

Balance firmware + USB CDC bug

2026-02-28 11:58:23 -05:00

chassis

feat: vertical stem architecture — compact baseplate + battery carousel

2026-02-28 14:57:30 -05:00

include

Merge pull request 'feat: Jetson command protocol — /cmd_vel to STM32 (Phase 2)' (#34 ) from sl-jetson/command-protocol into main

2026-02-28 21:43:03 -05:00

jetson

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