sl-perception
c5d6a72d39
Platform upgrade: Jetson Nano 4GB → Orin Nano Super 8GB (March 1, 2026) All Nano-era constraints removed — power/rate/resolution limits obsolete. Dockerfile: l4t-jetpack:r36.2.0 (JetPack 6 / Ubuntu 22.04 / CUDA 12.x), ROS2 Humble via native apt, added ros-humble-rtabmap-ros, ros-humble-v4l2-camera for future IMX219 CSI (Phase 2c) New: slam_rtabmap.launch.py — Orin primary SLAM entry point RTAB-Map with subscribe_scan (RPLIDAR) + subscribe_rgbd (D435i) Replaces slam_toolbox as docker-compose default New: config/rtabmap_params.yaml — Orin-optimized DetectionRate 10Hz, MaxFeatures 1000, Grid/3D true, TimeThr 0 (no limit), Mem/STMSize 0 (unlimited) Updated: config/realsense_d435i.yaml — 848x480x30, pointcloud enabled Updated: config/slam_toolbox_params.yaml — 10Hz rate, 1s map interval Updated: SLAM-SETUP-PLAN.md — full rewrite for Orin: arch diagram, Phase 2c IMX219 plan (4x 160° CSI surround), 25W power budget docker-compose.yml: image tag jetson-orin, default → slam_rtabmap.launch.py Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
34 lines
1.1 KiB
YAML
34 lines
1.1 KiB
YAML
# RealSense D435i configuration — Jetson Orin Nano Super
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#
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# Previous Nano 4GB settings (640x480x15, no point cloud) replaced.
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# Orin Nano Super has ample Ampere GPU headroom for 848x480x30fps + point cloud.
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#
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# Reference topics:
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# /camera/color/image_raw 848x480 30 Hz RGB8
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# /camera/depth/image_rect_raw 848x480 30 Hz Z16
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# /camera/aligned_depth_to_color/image_raw 848x480 30 Hz Z16
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# /camera/color/camera_info 848x480 30 Hz
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# /camera/depth/camera_info 848x480 30 Hz
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# /camera/imu ~400 Hz (gyro@400Hz + accel@100Hz fused)
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# /camera/points PointCloud2 30 Hz
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camera:
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ros__parameters:
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depth_module.profile: "848x480x30"
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rgb_camera.profile: "848x480x30"
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enable_depth: true
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enable_color: true
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enable_infra1: false
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enable_infra2: false
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enable_gyro: true
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enable_accel: true
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unite_imu_method: 2 # linear_interpolation
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align_depth.enable: true
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pointcloud.enable: true # Orin Ampere GPU handles this without issue
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publish_tf: true
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tf_publish_rate: 0.0
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