7708c63698
EKF fusing UWB position (10Hz) with IMU accel+gyro (200Hz) for SaltyBot indoor localization with UWB dropout resilience. Package: saltybot_uwb_imu_fusion - ekf_math.py: 6-state EKF [x,y,θ,vx,vy,ω], IMU predict + UWB update - IMU as process input: body-frame accel rotated to world via heading - Jacobian F for nonlinear rotation effect - Process noise Q from continuous white-noise model - UWB 2D position update, heading update from quaternion - Accel bias estimation (low-pass) - Velocity damping during UWB dropout (>2s threshold) - ekf_node.py: ROS2 node subscribing to /imu/data (200Hz) + /saltybot/uwb/pose or /uwb/bearing (10Hz) - Publishes /saltybot/pose/fused (PoseStamped) - Publishes /saltybot/pose/fused_cov (PoseWithCovarianceStamped) - Broadcasts base_link → map TF2 at IMU rate - Suppresses output after max_dead_reckoning_s without UWB - 14/14 unit tests passing (predict, update, dropout, PD covariance) - Launch: ros2 launch saltybot_uwb_imu_fusion uwb_imu_fusion.launch.py 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.