History

sl-controls 4d2b008c48 feat(controls): adaptive PID balance controller with gain scheduling (Issue #136 )

Pure modules (no ROS2 dep, fully unit-tested):
- pid_controller.py:
    GainSet — (kp,ki,kd) with safety clamp helper
    PIDController — anti-windup integral, D-on-error, output clamping
    GainScheduler — 3-class weight table (empty/light/heavy), exponential
      gain blending (alpha per tick), safety bounds clamping, manual
      override, immediate revert-to-defaults on instability
    InstabilityDetector — dual criteria: tilt threshold (>50% of window)
      + sign-reversal count (oscillation)

- weight_estimator.py:
    WeightEstimator — rolling-window current→weight, steady-state gating
      (|tilt|≤threshold), change detection (threshold_kg)
    CalibrationRoutine — IDLE→ROCKING→SETTLING→DONE/FAILED state machine;
      sinusoidal rocking output, settling current sampling, weight estimate
      from avg current; abort() / restart supported

- adaptive_pid_node.py: 100 Hz ROS2 node
    Sub: /saltybot/imu (Imu, pitch from quaternion), /saltybot/motor_current
    Pub: /saltybot/balance_effort (Float32), /saltybot/weight_estimate,
         /saltybot/pid_state (JSON: gains, class, weight_kg, flags)
    Srv: /saltybot/calibrate_balance (std_srvs/Trigger)
    IMU watchdog (0.5 s), dynamic reconfigure via override_enabled param,
    instability → revert + PID reset, structured INFO/WARN logging

- config/adaptive_pid_params.yaml, launch/adaptive_pid.launch.py,
  package.xml, setup.py, setup.cfg
- test/test_adaptive_pid.py: 68/68 unit tests passing

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-03-02 09:38:46 -05:00

calibration

feat(calibration): IMX219 intrinsic + extrinsic calibration workflow (Issue #106 )

2026-03-02 08:38:24 -05:00

config

feat(mapping): RTAB-Map persistence + multi-session + map management (Issue #123 )

2026-03-02 09:17:54 -05:00

docs

feat: Orin Nano Super platform update + 4x IMX219 CSI cameras

2026-02-28 22:59:13 -05:00

models

feat(social): Orin dev environment — JetPack 6 + TRT conversion + systemd (#88 )

2026-03-02 08:08:57 -05:00

ros2_ws/src

feat(controls): adaptive PID balance controller with gain scheduling (Issue #136 )

2026-03-02 09:38:46 -05:00

scripts

feat(social): Orin dev environment — JetPack 6 + TRT conversion + systemd (#88 )

2026-03-02 08:08:57 -05:00

systemd

feat(social): Orin dev environment — JetPack 6 + TRT conversion + systemd (#88 )

2026-03-02 08:08:57 -05:00

docker-compose.yml

feat(social): Orin dev environment — JetPack 6 + TRT conversion + systemd (#88 )

2026-03-02 08:08:57 -05:00

Dockerfile

feat: update SLAM stack for Jetson Orin Nano Super (67 TOPS, JetPack 6)

2026-02-28 21:46:27 -05:00

Dockerfile.social

feat(social): Orin dev environment — JetPack 6 + TRT conversion + systemd (#88 )

2026-03-02 08:08:57 -05:00

README.md

feat: Jetson Nano platform setup and Docker env (bd-1hcg)

2026-02-28 12:46:14 -05:00

README.md

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 peripherals
docs/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.