sl-perception
00d62a621e
Scopes Phase 2 perception/SLAM integration: - RTAB-Map (primary) + ORB-SLAM3 (fallback) recommendation with rationale - Docker/Humble strategy on JetPack 4.6 (avoids OS reflash) - ROS2 node graph, static TF frame, sensor params for Nano power budget - Phased milestones: 2a SLAM bring-up, 2b Nav2 integration (separate bead) - Power budget analysis and mitigation steps for 10W Nano constraint Closes: bd-wax (scoping only — implementation tracking in Phase 2a checklist) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>