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>
196 lines
6.2 KiB
YAML
196 lines
6.2 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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# ── Nav2 autonomous navigation stack ────────────────────────────────────────
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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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