sl-webui
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State machine: idle → patrol → investigate → interact → return - IDLE: Waiting for activation or battery recovery - PATROL: Autonomous patrolling with curiosity-driven exploration (#470) - INVESTIGATE: Approach and track detected persons - INTERACT: Social interaction with face recognition and gestures - RETURN: Navigate back to home/dock with recovery behaviors Integrations: - Patrol mode (#446): Waypoint routes with geofence (#441) - Curiosity behavior (#470): Autonomous exploration - Person following: Approach detected persons - Emergency stop cascade (#459): Highest priority safety - Geofence constraint (#441): Keep patrol within boundaries Blackboard variables: - battery_level: Current battery percentage - person_detected: Person detection state - current_mode: Current behavior tree state - home_pose: Home/dock location Files: - behavior_trees/autonomous_coordinator.xml: BehaviorTree definition - launch/autonomous_mode.launch.py: Full launch setup - saltybot_bringup/bt_nodes.py: Custom BT node plugins - BEHAVIOR_TREE_README.md: Documentation 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.