sl-firmware
291dd689f8
Archive STM32 firmware to legacy/stm32/: - src/, include/, lib/USB_CDC/, platformio.ini, test stubs, flash_firmware.py - test/test_battery_adc.c, test_hw_button.c, test_pid_schedule.c, test_vesc_can.c, test_can_watchdog.c - USB_CDC_BUG.md Rename: stm32_protocol → esp32_protocol, mamba_protocol → balance_protocol, stm32_cmd_node → esp32_cmd_node, stm32_cmd_params → esp32_cmd_params, stm32_cmd.launch.py → esp32_cmd.launch.py, test_stm32_protocol → test_esp32_protocol, test_stm32_cmd_node → test_esp32_cmd_node Content cleanup across all files: - Mamba F722S → ESP32-S3 BALANCE - BlackPill → ESP32-S3 IO - STM32F722/F7xx → ESP32-S3 - stm32Mode/Version/Port → esp32Mode/Version/Port - STM32 State/Mode labels → ESP32 State/Mode - Jetson Nano → Jetson Orin Nano Super - /dev/stm32 → /dev/esp32 - stm32_bridge → esp32_bridge - STM32 HAL → ESP-IDF docs/SALTYLAB.md: - Update "Drone FC Details" to describe ESP32-S3 BALANCE board (Waveshare ESP32-S3 Touch LCD 1.28) - Replace verbose "Self-Balancing Control" STM32 section with brief note pointing to SAUL-TEE-SYSTEM-REFERENCE.md TEAM.md: Update Embedded Firmware Engineer role to ESP32-S3 / ESP-IDF No new functionality — cleanup only. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
98 lines
4.5 KiB
Docker
98 lines
4.5 KiB
Docker
# Jetson Orin Nano Super — ROS2 Humble dev container
|
|
# Base: JetPack 6 (L4T R36.2.0) + CUDA 12.x / Ubuntu 22.04
|
|
#
|
|
# Hardware: Jetson Orin Nano Super 8GB (67 TOPS, 1024-core Ampere)
|
|
# Previous: Jetson Orin Nano Super 4GB (JetPack 4.6 / L4T R32.6.1) — see git history
|
|
|
|
FROM nvcr.io/nvidia/l4t-jetpack:r36.2.0
|
|
|
|
LABEL maintainer="sl-perception <saltylab>"
|
|
LABEL description="ROS2 Humble + SLAM stack for Jetson Orin Nano Super self-balancing robot"
|
|
LABEL jetpack="6.0"
|
|
LABEL l4t="r36.2.0"
|
|
LABEL ros_distro="humble"
|
|
|
|
ENV DEBIAN_FRONTEND=noninteractive
|
|
ENV ROS_DISTRO=humble
|
|
ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}
|
|
ENV PYTHONDONTWRITEBYTECODE=1
|
|
ENV PYTHONUNBUFFERED=1
|
|
|
|
# ── Locale ─────────────────────────────────────────────────────────────────────
|
|
RUN apt-get update && apt-get install -y --no-install-recommends \
|
|
locales tzdata \
|
|
&& locale-gen en_US.UTF-8 \
|
|
&& rm -rf /var/lib/apt/lists/*
|
|
ENV LANG=en_US.UTF-8
|
|
|
|
# ── System deps ─────────────────────────────────────────────────────────────────
|
|
RUN apt-get update && apt-get install -y --no-install-recommends \
|
|
build-essential cmake git wget curl \
|
|
python3-dev python3-pip python3-setuptools python3-wheel \
|
|
i2c-tools libi2c-dev python3-smbus \
|
|
picocom minicom setserial \
|
|
usbutils libusb-1.0-0-dev \
|
|
htop tmux nano \
|
|
net-tools iputils-ping \
|
|
&& rm -rf /var/lib/apt/lists/*
|
|
|
|
# ── ROS2 Humble (Ubuntu 22.04 native — standard apt, no ARM64 workarounds) ─────
|
|
RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc \
|
|
| gpg --dearmor -o /usr/share/keyrings/ros-archive-keyring.gpg && \
|
|
echo "deb [arch=arm64 signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
|
|
http://packages.ros.org/ros2/ubuntu jammy main" \
|
|
> /etc/apt/sources.list.d/ros2.list && \
|
|
apt-get update && apt-get install -y --no-install-recommends \
|
|
ros-humble-ros-base \
|
|
ros-humble-rmw-cyclonedds-cpp \
|
|
ros-dev-tools \
|
|
python3-colcon-common-extensions \
|
|
python3-rosdep \
|
|
&& rosdep init && rosdep update \
|
|
&& rm -rf /var/lib/apt/lists/*
|
|
|
|
# ── SLAM / Nav / Sensor packages ───────────────────────────────────────────────
|
|
RUN apt-get update && apt-get install -y --no-install-recommends \
|
|
ros-humble-rtabmap-ros \
|
|
ros-humble-slam-toolbox \
|
|
ros-humble-nav2-bringup \
|
|
ros-humble-robot-localization \
|
|
ros-humble-rplidar-ros \
|
|
ros-humble-realsense2-camera \
|
|
ros-humble-realsense2-description \
|
|
ros-humble-tf2-tools \
|
|
ros-humble-robot-state-publisher \
|
|
ros-humble-rqt \
|
|
ros-humble-rqt-common-plugins \
|
|
ros-humble-rviz2 \
|
|
ros-humble-rosbridge-server \
|
|
ros-humble-image-transport-plugins \
|
|
ros-humble-v4l2-camera \
|
|
&& rm -rf /var/lib/apt/lists/*
|
|
|
|
# ── GPIO / serial Python libs ───────────────────────────────────────────────────
|
|
RUN pip3 install --no-cache-dir \
|
|
Jetson.GPIO pyserial smbus2 numpy scipy
|
|
|
|
# ── RealSense SDK (librealsense2 ARM64 for JetPack 6) ─────────────────────────
|
|
RUN apt-get update && apt-get install -y --no-install-recommends \
|
|
libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev \
|
|
&& rm -rf /var/lib/apt/lists/*
|
|
|
|
RUN pip3 install --no-cache-dir pyrealsense2
|
|
|
|
# ── Workspace setup ────────────────────────────────────────────────────────────
|
|
RUN mkdir -p /ros2_ws/src
|
|
WORKDIR /ros2_ws
|
|
|
|
RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /root/.bashrc && \
|
|
echo "source /ros2_ws/install/local_setup.bash 2>/dev/null || true" >> /root/.bashrc && \
|
|
echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /root/.bashrc
|
|
|
|
# ── Entrypoint ─────────────────────────────────────────────────────────────────
|
|
COPY scripts/entrypoint.sh /entrypoint.sh
|
|
RUN chmod +x /entrypoint.sh
|
|
|
|
ENTRYPOINT ["/entrypoint.sh"]
|
|
CMD ["bash"]
|