sl-perception
2d60aab79c
- New map_persistence.launch.py: launches map_saver_server lifecycle node
(nav2_map_server) + saltybot_map_saver helper node + lifecycle_manager.
Configurable map_dir (default /mnt/nvme/saltybot/maps) and map_name.
- New map_saver_node.py: ROS2 node providing /saltybot/save_map (Trigger
service) that calls nav2_map_server map_saver_cli. On startup logs whether
a saved map is present. Auto-saves map on shutdown (auto_save_on_shutdown).
- New config/map_saver_params.yaml: map_saver_server params
(save_map_timeout=5s, free/occupied thresholds, transient-local QoS).
- nav2_slam_bringup.launch.py: adds map_dir + map_name args; includes
map_persistence.launch.py so map_saver_server runs during SLAM sessions.
- nav2_amcl_bringup.launch.py: adds map_dir arg; auto-detects saved map at
/mnt/nvme/saltybot/maps/saltybot_map.yaml at launch time and uses it as
the AMCL map; falls back to placeholder if not found.
- setup.py: registers map_persistence.launch.py, map_saver_params.yaml,
map_saver_node console_scripts entry point.
- test_nav2_amcl.py: 21 new tests covering params, launch syntax,
node service/shutdown behaviour, SLAM bringup inclusion, AMCL auto-detect.
Workflow:
1. ros2 launch saltybot_nav2_slam nav2_slam_bringup.launch.py (build map)
2. ros2 service call /saltybot/save_map std_srvs/srv/Trigger {} (save)
3. ros2 launch saltybot_nav2_slam nav2_amcl_bringup.launch.py (auto-loads)
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.