sl-webui
23e05a634f
Features: - Virtual dual-stick gamepad interface * Left stick: linear velocity (forward/backward) * Right stick: angular velocity (turn left/right) - Canvas-based rendering with real-time visual feedback - Velocity vector visualization on sticks - 10% deadzone on both axes for dead-stick detection - WASD keyboard fallback for manual driving * W/S: forward/backward * A/D: turn left/right * Smooth blending between gamepad and keyboard input - Speed limiter slider (0-100%) * Real-time control of max velocity * Disabled during e-stop state - Emergency stop button (e-stop) * Immediate velocity zeroing * Visual status indicator (red when active) * Prevents accidental motion during e-stop - ROS Integration * Publishes geometry_msgs/Twist to /cmd_vel * Max linear velocity: 0.5 m/s * Max angular velocity: 1.0 rad/s * 50ms update rate - UI Features * Real-time velocity display (m/s and rad/s) * Status bar with control mode indicator * Speed limit percentage display * Control info with keyboard fallback guide Integration: - Replaces previous split-view control layout - Enhanced TELEMETRY/control tab - Comprehensive gamepad + keyboard control system Build: 120 modules, no errors Co-Authored-By: Claude Haiku 4.5 <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.