587ca8a98e
Anchor firmware (esp32/uwb_anchor/src/main.cpp): - Add peer_range_once(peer_id) — DS-TWR initiator role toward a peer anchor - Add AT+PEER_RANGE=<id> command: triggers inter-anchor ranging and returns +PEER_RANGE:<my_id>,<peer_id>,<range_mm>,<rssi_dbm> (or ERR,TIMEOUT) ROS2 package saltybot_uwb_calibration_msgs: - CalibrateAnchors.srv: request (anchor_ids[], n_samples) → response (positions_x/y/z[], residual_rms_m, anchor_positions_json) ROS2 package saltybot_uwb_calibration: - mds_math.py: classical MDS (double-centred D², eigendecomposition), anchor_frame_align() to fix anchor-0 at origin / anchor-1 on +X - calibration_node.py: /saltybot/uwb/calibrate_anchors service — opens anchor serial ports, rounds-robin AT+PEER_RANGE= for all pairs, builds N×N distance matrix, runs MDS, returns JSON anchor positions - 12/12 unit tests passing (test/test_mds_math.py) - Supports ≥ 4 anchors; 5× averaged ranging per pair by default Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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 peripheralsdocs/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.