History

sl-jetson 92c0628c62 feat: Orin CANable 2.0 bridge for Mamba and VESC CAN bus (Issue #674 )

Adds slcan setup script and saltybot_can_bridge ROS2 package implementing
full CAN bus integration between the Orin and the Mamba motor controller /
VESC motor controllers via a CANable 2.0 USB dongle (slcan interface).

- jetson/scripts/setup_can.sh: slcand-based bring-up/tear-down for slcan0
  at 500 kbps with error handling (already up, device missing, retry)
- saltybot_can_bridge/mamba_protocol.py: CAN message ID constants and
  encode/decode helpers for velocity, mode, e-stop, IMU, battery, VESC state
- saltybot_can_bridge/can_bridge_node.py: ROS2 node subscribing to /cmd_vel
  and /estop, publishing /can/imu, /can/battery, /can/vesc/{left,right}/state
  and /can/connection_status; background reader thread, watchdog zero-vel,
  auto-reconnect every 5 s on CAN error
- config/can_bridge_params.yaml: default params (slcan0, VESC IDs 56/68,
  Mamba ID 1, 0.5 s command timeout)
- test/test_can_bridge.py: 30 unit tests covering encode/decode round-trips
  and edge cases — all pass without ROS2 or CAN hardware

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

2026-03-17 21:40:07 -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: Orin CANable 2.0 bridge for Mamba and VESC CAN bus (Issue #674 )

2026-03-17 21:40:07 -04:00

scripts

feat: Orin CANable 2.0 bridge for Mamba and VESC CAN bus (Issue #674 )

2026-03-17 21:40:07 -04:00

systemd

feat: CANable 2.0 bringup with udev rule and systemd service (Issue #643 )

2026-03-17 09:49:21 -04:00

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.