History

sl-webui 8d67d06857 feat: Integration test suite (Issue #504 )

Add comprehensive integration testing for complete ROS2 system stack:

Integration Tests (test_integration_full_stack.py):
  - Verifies all ROS2 nodes launch successfully
  - Checks critical topics are published (sensors, nav, control)
  - Validates system component health and stability
  - Tests launch file validity and configuration
  - Covers indoor/outdoor/follow modes

Launch Testing (test_launch_full_stack.py):
  - Validates launch file syntax and configuration
  - Verifies all required packages are installed
  - Checks launch sequence timing
  - Validates conditional logic for optional components

Test Coverage:
  ✓ SLAM/RTAB-Map (indoor mode)
  ✓ Nav2 navigation stack
  ✓ Perception (YOLOv8n person detection)
  ✓ Control (cmd_vel bridge, STM32 bridge)
  ✓ Audio pipeline and monitoring
  ✓ Sensors (LIDAR, RealSense, UWB, CSI cameras)
  ✓ Battery and temperature monitoring
  ✓ Autonomous docking behavior
  ✓ TF2 tree and odometry

Usage:
  pytest test/test_integration_full_stack.py -v
  pytest test/test_launch_full_stack.py -v

Documentation:
  See test/README_INTEGRATION_TESTS.md for detailed information.

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>

2026-03-06 16:42:31 -05:00

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: Orin Nano Super platform update + 4x IMX219 CSI cameras

2026-02-28 22:59:13 -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: Integration test suite (Issue #504 )

2026-03-06 16:42:31 -05:00

scripts

feat: Add FC↔Orin UART verification (Issue #362 )

2026-03-04 12:17:56 -05:00

systemd

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

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