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saltylab-firmware/projects/saltybot/SLAM-SETUP-PLAN.md
sl-perception 772a70b545 feat: Nav2 path planning + obstacle avoidance (Phase 2b) 
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>
2026-02-28 22:54:24 -05:00

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SLAM Setup Plan — Jetson Orin Nano Super

Bead: bd-wax (plan), bd-a2j (sensor drivers done PR #17) Phase: 2 | Owner: sl-perception Updated: 2026-03-01 — revised for Jetson Orin Nano Super (replaces Nano 4GB)

All Nano-era constraints (10W cap, 2Hz detection, 400 features, no 3D) are obsolete.

Hardware

Component Specs
AI Brain Jetson Orin Nano Super 8GB — 6-core A78AE, 1024-core Ampere, 67 TOPS, JetPack 6
Depth Cam Intel RealSense D435i — 848×480 @ 90fps, BMI055 IMU
LIDAR RPLIDAR A1M8 — 360° 2D, 12m range, ~5.5 Hz
Wide Cams 4× IMX219 160° CSI — front/right/rear/left 90° intervals (arriving)
FC STM32F722 — UART bridge /dev/ttyACM0 @ 921600

1. OS & ROS2

JetPack 6 = Ubuntu 22.04 → ROS2 Humble via native apt (no Docker workarounds needed).

sudo apt install ros-humble-desktop ros-humble-rtabmap-ros \
  ros-humble-rplidar-ros ros-humble-realsense2-camera \
  ros-humble-slam-toolbox ros-humble-nav2-bringup

Docker still supported for CI. Updated Dockerfile uses nvcr.io/nvidia/l4t-jetpack:r36.2.0.

2. SLAM Stack

Primary: RTAB-Map (RGB-D + 2D LIDAR fusion)

Parameter Nano 4GB (old) Orin Nano Super
Detection rate 2 Hz 10 Hz
Visual features 400 1000
D435i profile 640×480×15fps 848×480×30fps
3D point cloud disabled enabled
Map type 2D only 2D + 3D
Processing time limit 700ms none
Short-term memory 30 keyframes unlimited

Fusion: RPLIDAR /scan (fast 2D loop closure) + D435i depth (3D reconstruction + visual odometry).

Secondary: slam_toolbox (LIDAR-only localization / pre-built map mode)

3. Architecture

Jetson Orin Nano Super (Ubuntu 22.04 / JetPack 6 / CUDA 12.x)

  realsense2_camera          rplidar_ros
  848×480×30fps              /scan ~5.5Hz 360°
  /camera/color              │
  /camera/depth              │
  /camera/imu ~400Hz         │
        │                    │
        └──────────┬─────────┘
                   ▼
            rtabmap_ros
            10Hz | 3D cloud | 1000 features
            → /rtabmap/map         (OccupancyGrid)
            → /rtabmap/cloud_map   (PointCloud2)
            → /rtabmap/odom        (Odometry)
                   │
                   ▼
             Nav2 stack            (Phase 2b)
             20Hz costmap
             /cmd_vel → STM32

  4× IMX219 CSI               (Phase 2c — pending hardware)
  front/right/rear/left 160°
  → panoramic stitch, person tracking

4. Phases

Phase Status Description
2a ✅ Done (PR #17) Sensor drivers — saltybot_bringup package
2a+ ✅ Done (PR #36) Orin update: Dockerfile JetPack 6, RTAB-Map launch + config
2b ✅ Done (this PR) Nav2 integration — path planning + obstacle avoidance
2c Pending 4× IMX219 surround vision (new bead, after hardware arrives)

5. RTAB-Map Config (Orin)

Full config: jetson/config/rtabmap_params.yaml

Rtabmap/DetectionRate: "10"     # was 2 on Nano
Kp/MaxFeatures:        "1000"   # was 400
RGBD/LinearUpdate:     "0.05"   # 5cm  (was 10cm)
RGBD/AngularUpdate:    "0.05"   # ~3°  (was 5°)
Grid/3D:               "true"   # 3D cloud enabled  (was false)
Rtabmap/TimeThr:       "0"      # no limit  (was 700ms)
Mem/STMSize:           "0"      # unlimited  (was 30)

6. 4× IMX219 Layout (Phase 2c)

      FRONT (CSI0) 160°
LEFT  (CSI3) ×  RIGHT (CSI1)
      REAR  (CSI2) 160°

90° between cameras, 160° FOV → ~70° overlap at each boundary, full 360° coverage.

ROS topics (planned): /camera/{front,right,rear,left}/image_raw @ 30Hz, /camera/panoramic/image_raw @ 15Hz (stitched equirectangular).

7. Power Budget (Orin Nano Super)

Scenario Total
SLAM active (RTAB-Map + D435i + RPLIDAR) ~16W
+ 4× IMX219 ~17W
+ Nav2 + TensorRT person detection ~22W

Orin Nano Super TDP: 25W max. Recommended PSU: 5V 5A (25W) from robot buck converter. No power gating needed. Run sudo nvpmodel -m 0 && sudo jetson_clocks for full performance.

8. Milestones

  • Flash JetPack 6 on Orin (arriving March 1)
  • sudo apt install ros-humble-desktop ros-humble-rtabmap-ros ...
  • Verify D435i: lsusb | grep "8086:0b3a"
  • Verify RPLIDAR: ls /dev/rplidar
  • colcon build --packages-select saltybot_bringup
  • ros2 launch saltybot_bringup sensors.launch.py — verify topics
  • ros2 launch saltybot_bringup slam_rtabmap.launch.py — verify /rtabmap/map
  • ros2 topic hz /rtabmap/cloud_map — verify 3D cloud
  • Record rosbag, monitor tegrastats for thermal headroom
  • Update static TF with real mount measurements
  • Open bead: Phase 2b Nav2
  • Open bead: Phase 2c IMX219 (after hardware arrives)

9. References