sl-perception
772a70b545
Integrates Nav2 autonomous navigation stack with RTAB-Map SLAM on Orin
Nano Super. No AMCL/map_server needed — RTAB-Map provides /map + TF.
New files:
- jetson/config/nav2_params.yaml DWB controller,
NavFn planner, RPLIDAR obstacle layer, RealSense voxel layer;
10Hz local / 5Hz global costmap; robot_radius 0.15m, max_vel 1.0 m/s
- jetson/ros2_ws/src/saltybot_bringup/launch/nav2.launch.py
wraps nav2_bringup navigation_launch with saltybot params + BT XML
- jetson/ros2_ws/src/saltybot_bringup/behavior_trees/
navigate_to_pose_with_recovery.xml BT: replan@1Hz, DWB follow,
recovery: clear maps → spin 90° → wait 5s → back up 0.30m
Updated:
- jetson/docker-compose.yml add saltybot-nav2 service
(depends_on: saltybot-ros2)
- jetson/ros2_ws/src/saltybot_bringup/setup.py install behavior_trees/*.xml
- jetson/ros2_ws/src/saltybot_bringup/package.xml add rtabmap_ros + nav2_bringup
- projects/saltybot/SLAM-SETUP-PLAN.md Phase 2b ✅ Done
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
167 lines
5.2 KiB
YAML
167 lines
5.2 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-nano
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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/ttyUSB0:/dev/ttyUSB0
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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/ttyUSB0
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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-nano
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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 (custom serial↔ROS2 bridge) ─────────────────────────
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stm32-bridge:
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image: saltybot/ros2-humble:jetson-nano
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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/ttyUSB1:/dev/ttyUSB1
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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 run saltybot_stm32_bridge bridge_node
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--ros-args
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-p serial_port:=/dev/ttyUSB1
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-p baud_rate:=921600
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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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