sl-webui
f71dad5344
Architecture change (2026-04-03): Mamba F722S (STM32F722) and BlackPill replaced by ESP32 BALANCE (PID loop) and ESP32 IO (motors/sensors/comms). - Update CLAUDE.md, docs, chassis BOM/ASSEMBLY, pinout, power-budget, wiring-diagram, TEAM.md, AUTONOMOUS_ARMING.md, docker-compose - Update all ROS2 package comments, config labels, launch args (stm32_port→esp32_port, /dev/stm32-bridge→/dev/esp32-bridge) - Update WebUI: stm32Mode→esp32Mode, stm32Version→esp32Version, "STM32 State/Mode" labels → "ESP32 State/Mode" (ControlMode, SettingsPanel) - Add TODO(esp32-migration) markers on stm32_protocol.py and mamba_protocol.py binary frame layouts — pending ESP32 protocol spec from max - Fix roslib CDN 1.3.0→1.4.0 in all 11 HTML panels (fixes ROS2 Humble rosbridge "Received a message without an op" incompatibility) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
66 lines
1.8 KiB
Markdown
66 lines
1.8 KiB
Markdown
# Jetson Nano — AI/SLAM Platform Setup
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Self-balancing robot: Jetson Nano dev environment for ROS2 Humble + SLAM stack.
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## Stack
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| Component | Version / Part |
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|-----------|---------------|
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| Platform | Jetson Nano 4GB |
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| JetPack | 4.6 (L4T R32.6.1, CUDA 10.2) |
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| ROS2 | Humble Hawksbill |
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| DDS | CycloneDDS |
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| SLAM | slam_toolbox |
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| Nav | Nav2 |
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| Depth camera | Intel RealSense D435i |
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| LiDAR | RPLIDAR A1M8 |
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| MCU bridge | ESP32 (USB CDC @ 921600) |
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## Quick Start
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```bash
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# 1. Host setup (once, on fresh JetPack 4.6)
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sudo bash scripts/setup-jetson.sh
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# 2. Build Docker image
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bash scripts/build-and-run.sh build
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# 3. Start full stack
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bash scripts/build-and-run.sh up
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# 4. Open ROS2 shell
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bash scripts/build-and-run.sh shell
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```
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## Docs
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- [`docs/pinout.md`](docs/pinout.md) — GPIO/I2C/UART pinout for all peripherals
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- [`docs/power-budget.md`](docs/power-budget.md) — 10W power envelope analysis
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## Files
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```
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jetson/
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├── Dockerfile # L4T base + ROS2 Humble + SLAM packages
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├── docker-compose.yml # Multi-service stack (ROS2, RPLIDAR, D435i, ESP32 BALANCE)
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├── README.md # This file
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├── docs/
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│ ├── pinout.md # GPIO/I2C/UART pinout reference
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│ └── power-budget.md # Power budget analysis (10W envelope)
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└── scripts/
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├── entrypoint.sh # Docker container entrypoint
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├── setup-jetson.sh # Host setup (udev, Docker, nvpmodel)
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└── build-and-run.sh # Build/run helper
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```
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## Power Budget (Summary)
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| Scenario | Total |
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|---------|-------|
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| Idle | 2.9W |
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| Nominal (SLAM active) | ~10.2W |
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| Peak | 15.4W |
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Target: 10W (MAXN nvpmodel). Use RPLIDAR standby + 640p D435i for compliance.
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See [`docs/power-budget.md`](docs/power-budget.md) for full analysis.
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