sl-perception
c5d6a72d39
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>
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.