sl-jetson
3755e235aa
Task A — Orin Nano Super platform update: - docker-compose.yml: update header/comments, switch all service image tags to jetson-orin, update devices to udev symlinks (/dev/rplidar, /dev/stm32-bridge, i2c-7), add NVMe volume mounts (/mnt/nvme/saltybot), update stm32-bridge to saltybot_bridge launch, add csi-cameras service - docs/pinout.md: full rewrite for Orin Nano Super — i2c-7, ttyTHS0, CSI-A/B connectors, M.2 NVMe slot, IMX219 15-pin FFC pinout, V4L2 nodes, GStreamer test commands, updated udev rules - docs/power-budget.md: full rewrite — 25W TDP, 8GB LPDDR5, 67 TOPS, 4-camera CSI bandwidth analysis, nvpmodel modes, Nano vs Orin comparison, 5V 6A PSU recommendation, 4S LiPo architecture - scripts/setup-jetson.sh: full rewrite — JetPack 6 / Ubuntu 22.04, nvidia-container-toolkit new keyring method, NVMe partition/format/fstab, CSI driver check (imx219 modprobe), video group, jtop install, 8GB swap Task B — saltybot_cameras ROS2 package: - launch/csi_cameras.launch.py: 4x v4l2_camera nodes, namespace per camera (front/left/rear/right), 640x480x30fps, includes TF launch automatically - launch/camera_tf.launch.py: static TF for 4 cameras at 90deg intervals on sensor_head_link (r=5cm offset), yaw 0/90/180/-90 deg - package.xml, setup.py, setup.cfg, __init__.py, resource marker - config/cameras_params.yaml: per-camera device/frame/offset configuration Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
31 lines
833 B
Python
31 lines
833 B
Python
from setuptools import setup
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import os
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from glob import glob
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package_name = 'saltybot_cameras'
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setup(
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name=package_name,
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version='0.1.0',
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packages=[package_name],
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data_files=[
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('share/ament_index/resource_index/packages',
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['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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(os.path.join('share', package_name, 'launch'),
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glob('launch/*.py')),
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(os.path.join('share', package_name, 'config'),
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glob('config/*.yaml')),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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maintainer='seb',
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maintainer_email='seb@vayrette.com',
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description='4x IMX219 CSI surround camera integration for saltybot',
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license='MIT',
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tests_require=['pytest'],
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entry_points={
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'console_scripts': [],
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},
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)
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