sl-perception
6b798cc890
Platform upgrade: Jetson Nano 4GB → Orin Nano Super 8GB (March 1, 2026) All Nano-era constraints removed — power/rate/resolution limits obsolete. Dockerfile: l4t-jetpack:r36.2.0 (JetPack 6 / Ubuntu 22.04 / CUDA 12.x), ROS2 Humble via native apt, added ros-humble-rtabmap-ros, ros-humble-v4l2-camera for future IMX219 CSI (Phase 2c) New: slam_rtabmap.launch.py — Orin primary SLAM entry point RTAB-Map with subscribe_scan (RPLIDAR) + subscribe_rgbd (D435i) Replaces slam_toolbox as docker-compose default New: config/rtabmap_params.yaml — Orin-optimized DetectionRate 10Hz, MaxFeatures 1000, Grid/3D true, TimeThr 0 (no limit), Mem/STMSize 0 (unlimited) Updated: config/realsense_d435i.yaml — 848x480x30, pointcloud enabled Updated: config/slam_toolbox_params.yaml — 10Hz rate, 1s map interval Updated: SLAM-SETUP-PLAN.md — full rewrite for Orin: arch diagram, Phase 2c IMX219 plan (4x 160° CSI surround), 25W power budget docker-compose.yml: image tag jetson-orin, default → slam_rtabmap.launch.py Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
137 lines
4.3 KiB
YAML
137 lines
4.3 KiB
YAML
version: "3.8"
|
|
|
|
# Jetson Nano — ROS2 Humble SLAM stack
|
|
# Run with: docker compose up -d
|
|
# Requires: NVIDIA Container Runtime (nvidia-docker2) on host
|
|
|
|
services:
|
|
|
|
# ── Core ROS2 + SLAM node ─────────────────────────────────────────────────
|
|
saltybot-ros2:
|
|
image: saltybot/ros2-humble:jetson-orin
|
|
build:
|
|
context: .
|
|
dockerfile: Dockerfile
|
|
container_name: saltybot-ros2
|
|
restart: unless-stopped
|
|
runtime: nvidia # JetPack NVIDIA runtime
|
|
privileged: false # use device passthrough instead
|
|
network_mode: host # ROS2 DDS multicast needs host networking
|
|
|
|
environment:
|
|
- NVIDIA_VISIBLE_DEVICES=all
|
|
- NVIDIA_DRIVER_CAPABILITIES=all
|
|
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
|
- ROS_DOMAIN_ID=42
|
|
- DISPLAY=${DISPLAY:-:0} # for RViz2 on host X11
|
|
|
|
volumes:
|
|
# X11 socket for RViz2
|
|
- /tmp/.X11-unix:/tmp/.X11-unix:rw
|
|
# ROS2 workspace (host-mounted for live dev)
|
|
# Mount src/ subdirectory so host structure mirrors container /ros2_ws/src/
|
|
- ./ros2_ws/src:/ros2_ws/src:rw
|
|
# Persistent SLAM maps
|
|
- saltybot-maps:/maps
|
|
# Config files
|
|
- ./config:/config:ro
|
|
|
|
devices:
|
|
# RPLIDAR A1M8 — typically /dev/ttyUSB0
|
|
- /dev/ttyUSB0:/dev/ttyUSB0
|
|
# STM32 UART bridge — typically /dev/ttyUSB1 or /dev/ttyACM0
|
|
- /dev/ttyUSB1:/dev/ttyUSB1
|
|
# RealSense D435i — USB3 device, needs udev rules
|
|
- /dev/bus/usb:/dev/bus/usb
|
|
# I2C bus (Jetson i2c-1 = pins 3/5)
|
|
- /dev/i2c-1:/dev/i2c-1
|
|
# GPIO (via Jetson.GPIO)
|
|
- /sys/class/gpio:/sys/class/gpio
|
|
|
|
command: >
|
|
bash -c "
|
|
source /opt/ros/humble/setup.bash &&
|
|
ros2 launch saltybot_bringup slam_rtabmap.launch.py
|
|
"
|
|
|
|
# ── RPLIDAR driver node ────────────────────────────────────────────────────
|
|
rplidar:
|
|
image: saltybot/ros2-humble:jetson-nano
|
|
build:
|
|
context: .
|
|
dockerfile: Dockerfile
|
|
container_name: saltybot-rplidar
|
|
restart: unless-stopped
|
|
runtime: nvidia
|
|
network_mode: host
|
|
environment:
|
|
- ROS_DOMAIN_ID=42
|
|
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
|
devices:
|
|
- /dev/ttyUSB0:/dev/ttyUSB0
|
|
command: >
|
|
bash -c "
|
|
source /opt/ros/humble/setup.bash &&
|
|
ros2 launch rplidar_ros rplidar_a1_launch.py
|
|
serial_port:=/dev/ttyUSB0
|
|
frame_id:=laser
|
|
"
|
|
|
|
# ── RealSense D435i driver node ────────────────────────────────────────────
|
|
realsense:
|
|
image: saltybot/ros2-humble:jetson-nano
|
|
build:
|
|
context: .
|
|
dockerfile: Dockerfile
|
|
container_name: saltybot-realsense
|
|
restart: unless-stopped
|
|
runtime: nvidia
|
|
network_mode: host
|
|
environment:
|
|
- ROS_DOMAIN_ID=42
|
|
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
|
devices:
|
|
- /dev/bus/usb:/dev/bus/usb
|
|
volumes:
|
|
- /dev:/dev
|
|
command: >
|
|
bash -c "
|
|
source /opt/ros/humble/setup.bash &&
|
|
ros2 launch realsense2_camera rs_launch.py
|
|
enable_color:=true
|
|
enable_depth:=true
|
|
enable_gyro:=true
|
|
enable_accel:=true
|
|
unite_imu_method:=linear_interpolation
|
|
depth_module.profile:=640x480x30
|
|
rgb_camera.profile:=640x480x30
|
|
"
|
|
|
|
# ── STM32 bridge node (custom serial↔ROS2 bridge) ─────────────────────────
|
|
stm32-bridge:
|
|
image: saltybot/ros2-humble:jetson-nano
|
|
build:
|
|
context: .
|
|
dockerfile: Dockerfile
|
|
container_name: saltybot-stm32-bridge
|
|
restart: unless-stopped
|
|
runtime: nvidia
|
|
network_mode: host
|
|
environment:
|
|
- ROS_DOMAIN_ID=42
|
|
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
|
devices:
|
|
- /dev/ttyUSB1:/dev/ttyUSB1
|
|
command: >
|
|
bash -c "
|
|
source /opt/ros/humble/setup.bash &&
|
|
ros2 run saltybot_stm32_bridge bridge_node
|
|
--ros-args
|
|
-p serial_port:=/dev/ttyUSB1
|
|
-p baud_rate:=921600
|
|
"
|
|
|
|
volumes:
|
|
saltybot-maps:
|
|
driver: local
|