sl-firmware
3a7576939e
STM32 firmware: - safety.h/c: EstopSource enum, safety_remote_estop/clear/get/active() CDC 'E'=ESTOP_REMOTE, 'F'=ESTOP_CELLULAR_TIMEOUT, 'Z'=clear latch - usbd_cdc_if: cdc_estop_request/cdc_estop_clear_request volatile flags - status: status_update() +remote_estop param; both LEDs fast-blink 200ms - main.c: immediate motor cutoff highest-priority; arming gated by !safety_remote_estop_active(); motor estop auto-clear gated; telemetry 'es' field 0-4; status_update() updated to 5 args Safety: IMMEDIATE motor cutoff, latched until explicit Z + DISARMED, cannot re-arm via MQTT alone (requires RC arm hold). IWDG-safe. Jetson bridge: - remote_estop_node.py: paho-mqtt + pyserial, cellular watchdog 5s - estop_params.yaml, remote_estop.launch.py - setup.py / package.xml: register node + paho-mqtt dep - docker-compose.yml: remote-estop service - test_remote_estop.py: kill/clear/watchdog/latency unit tests Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
291 lines
9.6 KiB
YAML
291 lines
9.6 KiB
YAML
version: "3.8"
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# Jetson Orin Nano Super — ROS2 Humble SLAM stack
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# Run with: docker compose up -d
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# Requires: NVIDIA Container Toolkit (JetPack 6) on host
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services:
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# ── Core ROS2 + SLAM node ─────────────────────────────────────────────────
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saltybot-ros2:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-ros2
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restart: unless-stopped
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runtime: nvidia # JetPack NVIDIA runtime
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privileged: false # use device passthrough instead
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network_mode: host # ROS2 DDS multicast needs host networking
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environment:
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- NVIDIA_VISIBLE_DEVICES=all
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- NVIDIA_DRIVER_CAPABILITIES=all
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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- ROS_DOMAIN_ID=42
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- DISPLAY=${DISPLAY:-:0} # for RViz2 on host X11
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volumes:
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# X11 socket for RViz2
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- /tmp/.X11-unix:/tmp/.X11-unix:rw
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# ROS2 workspace (host-mounted for live dev)
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- ./ros2_ws/src:/ros2_ws/src:rw
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# Persistent SLAM maps on NVMe
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- /mnt/nvme/saltybot/maps:/maps
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# NVMe data volume
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- /mnt/nvme/saltybot:/data:rw
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# Config files
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- ./config:/config:ro
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devices:
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# RPLIDAR A1M8 — stable symlink via udev
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- /dev/rplidar:/dev/rplidar
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# STM32 USB CDC bridge — stable symlink via udev
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- /dev/stm32-bridge:/dev/stm32-bridge
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# RealSense D435i — USB3 device, needs udev rules
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- /dev/bus/usb:/dev/bus/usb
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# I2C bus (Orin Nano i2c-7 = 40-pin header pins 3/5)
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- /dev/i2c-7:/dev/i2c-7
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# CSI cameras via V4L2
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- /dev/video0:/dev/video0
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- /dev/video2:/dev/video2
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- /dev/video4:/dev/video4
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- /dev/video6:/dev/video6
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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ros2 launch saltybot_bringup slam_rtabmap.launch.py
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"
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# ── RPLIDAR driver node ────────────────────────────────────────────────────
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rplidar:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-rplidar
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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environment:
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- ROS_DOMAIN_ID=42
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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devices:
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- /dev/rplidar:/dev/rplidar
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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ros2 launch rplidar_ros rplidar_a1_launch.py
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serial_port:=/dev/rplidar
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frame_id:=laser
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"
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# ── RealSense D435i driver node ────────────────────────────────────────────
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realsense:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-realsense
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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environment:
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- ROS_DOMAIN_ID=42
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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devices:
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- /dev/bus/usb:/dev/bus/usb
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volumes:
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- /dev:/dev
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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ros2 launch realsense2_camera rs_launch.py
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enable_color:=true
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enable_depth:=true
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enable_gyro:=true
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enable_accel:=true
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unite_imu_method:=linear_interpolation
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depth_module.profile:=640x480x30
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rgb_camera.profile:=640x480x30
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"
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# ── STM32 bridge node (bidirectional serial↔ROS2) ─────────────────────────
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stm32-bridge:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-stm32-bridge
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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environment:
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- ROS_DOMAIN_ID=42
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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devices:
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- /dev/stm32-bridge:/dev/stm32-bridge
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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ros2 launch saltybot_bridge bridge.launch.py
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mode:=bidirectional
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serial_port:=/dev/stm32-bridge
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"
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# ── 4× IMX219 CSI cameras ─────────────────────────────────────────────────
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csi-cameras:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-csi-cameras
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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privileged: true # CSI camera access requires elevated perms
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environment:
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- ROS_DOMAIN_ID=42
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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- NVIDIA_VISIBLE_DEVICES=all
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- NVIDIA_DRIVER_CAPABILITIES=all
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devices:
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- /dev/video0:/dev/video0
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- /dev/video2:/dev/video2
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- /dev/video4:/dev/video4
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- /dev/video6:/dev/video6
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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ros2 launch saltybot_cameras csi_cameras.launch.py
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width:=640
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height:=480
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fps:=30
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"
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# ── Surround vision — 360° bird's-eye view + Nav2 camera obstacle layer ─────
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saltybot-surround:
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# ── rosbridge WebSocket server ────────────────────────────────────────────
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# Serves ROS2 topics to the web dashboard (roslibjs) on ws://jetson:9090
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#
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# Topics exposed (whitelist in ros2_ws/src/saltybot_bringup/config/rosbridge_params.yaml):
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# /map /scan /tf /tf_static /saltybot/imu /saltybot/balance_state
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# /cmd_vel /person/* /camera/*/image_raw/compressed
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#
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# Also runs image_transport/republish nodes to compress 4× CSI camera streams.
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# Raw 640×480 YUYV → JPEG-compressed sensor_msgs/CompressedImage.
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#
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# Install (already in image): apt install ros-humble-rosbridge-server
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# ros-humble-image-transport-plugins
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rosbridge:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-surround
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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depends_on:
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- csi-cameras # IMX219 /camera/*/image_raw must be publishing
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environment:
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- NVIDIA_VISIBLE_DEVICES=all
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- NVIDIA_DRIVER_CAPABILITIES=all
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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- ROS_DOMAIN_ID=42
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volumes:
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- ./ros2_ws/src:/ros2_ws/src:rw
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- ./config:/config:ro
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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ros2 launch saltybot_surround surround_vision.launch.py
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start_cameras:=false
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camera_height:=0.30
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publish_rate:=5.0
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container_name: saltybot-rosbridge
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restart: unless-stopped
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runtime: nvidia
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network_mode: host # port 9090 is directly reachable on host
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depends_on:
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- saltybot-ros2 # needs /map, /tf published
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- stm32-bridge # needs /saltybot/imu, /saltybot/balance_state
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- csi-cameras # needs /camera/*/image_raw for compression
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environment:
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- ROS_DOMAIN_ID=42
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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volumes:
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- ./ros2_ws/src:/ros2_ws/src:rw
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- ./config:/config:ro
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# Port 9090 is accessible on all host interfaces via network_mode: host.
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# To restrict to a specific interface, set host: "192.168.x.x" in
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# rosbridge_params.yaml instead of using Docker port mappings.
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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source /ros2_ws/install/local_setup.bash 2>/dev/null || true &&
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ros2 launch saltybot_bringup rosbridge.launch.py
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"
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# ── Nav2 autonomous navigation stack ────────────────────────────────────────
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# -- Remote e-stop bridge (MQTT over 4G -> STM32 CDC) ----------------------
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remote-estop:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-remote-estop
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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depends_on:
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- stm32-bridge
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environment:
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- ROS_DOMAIN_ID=42
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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devices:
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- /dev/stm32-bridge:/dev/stm32-bridge
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volumes:
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- ./ros2_ws/src:/ros2_ws/src:rw
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- ./config:/config:ro
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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source /ros2_ws/install/local_setup.bash 2>/dev/null || true &&
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pip install paho-mqtt --quiet 2>/dev/null || true &&
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ros2 launch saltybot_bridge remote_estop.launch.py
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"
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saltybot-nav2:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-nav2
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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depends_on:
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- saltybot-ros2 # RTAB-Map + sensors must be running first
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environment:
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- NVIDIA_VISIBLE_DEVICES=all
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- NVIDIA_DRIVER_CAPABILITIES=all
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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- ROS_DOMAIN_ID=42
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volumes:
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- ./ros2_ws/src:/ros2_ws/src:rw
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- ./config:/config:ro
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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ros2 launch saltybot_bringup nav2.launch.py
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"
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volumes:
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saltybot-maps:
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driver: local
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