History

sl-firmware 5143e5bfac feat(social): Issue #86 — physical expression + motor attention

ESP32-C3 NeoPixel sketch (esp32/social_expression/social_expression.ino):
  - Adafruit NeoPixel + ArduinoJson, serial JSON protocol 115200 8N1
  - Mood→colour: happy=green, curious=blue, annoyed=red, playful=rainbow
  - Idle breathing animation (sine-modulated warm white)
  - Auto-falls to idle after IDLE_TIMEOUT_MS (3 s) with no command

ROS2 saltybot_social_msgs (new package):
  - Mood.msg — {mood, intensity}
  - Person.msg — {track_id, bearing_rad, distance_m, confidence, is_speaking, source}
  - PersonArray.msg — {persons[], active_id}

ROS2 saltybot_social (new package):
  - expression_node: subscribes /social/mood → JSON serial to ESP32-C3
    reconnects on port error; sends idle frame after idle_timeout_s
  - attention_node: subscribes /social/persons → /cmd_vel rotation-only
    proportional control with dead zone; prefers active speaker, falls
    back to highest-confidence person; lost-target idle after 2 s
  - launch/social.launch.py — combined launch
  - config YAML for both nodes with documented parameters
  - test/test_attention.py — 15 pytest-only unit tests

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

2026-03-01 23:35:59 -05:00

config

feat: 4x IMX219 surround vision + Nav2 camera obstacle layer (Phase 2c)

2026-02-28 23:19:23 -05:00

docs

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

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

ros2_ws/src

feat(social): Issue #86 — physical expression + motor attention

2026-03-01 23:35:59 -05:00

scripts

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

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

docker-compose.yml

feat(safety): remote e-stop over 4G MQTT (Issue #63 )

2026-03-01 04:55:54 -05:00

Dockerfile

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

2026-02-28 21:46:27 -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.