History

sl-uwb 65e0009118 feat: ESP-NOW to ROS2 serial relay (Issue #618 )

New ROS2 package saltybot_uwb_espnow_relay:
- packet.py: EspNowPacket dataclass + FrameReader stateful decoder
  - Parses 20-byte ESP-NOW packets: MAGIC, tag_id, msg_type, anchor_id,
    range_mm (int32 LE), rssi_dbm (float32), timestamp_ms, battery_pct,
    flags (bit0=estop), seq_num
  - Serial framing: STX(0x02) + LEN(0x14) + DATA[20] + XOR-CRC(1)
  - Sync recovery: re-hunts STX after bad LEN or CRC; byte-by-byte capable
- relay_node.py: /espnow_relay ROS2 node
  - Reads from USB serial in background thread (auto-reconnects on error)
  - MSG_RANGE (0x10): publishes UwbRange on /uwb/espnow/ranges
  - MSG_ESTOP (0x20): publishes std_msgs/Bool on /uwb/espnow/estop
    and /saltybot/estop (latched True for estop_latch_s after last packet)
  - MSG_HEARTBEAT (0x30): publishes EspNowHeartbeat on /uwb/espnow/heartbeat
  - Range validity gating: min_range_m / max_range_m params
- 16/16 unit tests passing (test/test_packet.py, no ROS2/hardware needed)

saltybot_uwb_msgs: add EspNowHeartbeat.msg
  (tag_id, battery_pct, seq_num, timestamp_ms + std_msgs/Header)

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

2026-03-15 10:08:19 -04:00

calibration

feat(calibration): IMX219 intrinsic + extrinsic calibration workflow (Issue #106 )

2026-03-02 08:38:24 -05:00

config

Merge remote-tracking branch 'origin/sl-jetson/issue-477-urdf'

2026-03-06 11:43:31 -05:00

docs

feat: Add Issue #502 - Headscale VPN auto-connect on Orin

2026-03-06 10:25:04 -05:00

models

feat(social): Orin dev environment — JetPack 6 + TRT conversion + systemd (#88 )

2026-03-02 08:08:57 -05:00

ros2_ws/src

feat: ESP-NOW to ROS2 serial relay (Issue #618 )

2026-03-15 10:08:19 -04:00

scripts

feat: Add Issue #502 - Headscale VPN auto-connect on Orin

2026-03-06 10:25:04 -05:00

systemd

feat: Add Issue #502 - Headscale VPN auto-connect on Orin

2026-03-06 10:25:04 -05:00

docker-compose.yml

feat(social): Orin dev environment — JetPack 6 + TRT conversion + systemd (#88 )

2026-03-02 08:08:57 -05:00

Dockerfile

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

2026-02-28 21:46:27 -05:00

Dockerfile.social

feat(social): Orin dev environment — JetPack 6 + TRT conversion + systemd (#88 )

2026-03-02 08:08:57 -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.