sl-perception
9d6c72bd24
Implements saltybot_dronecan_gps ROS2 package — DroneCAN/UAVCAN v0 bridge that publishes Here4 GPS, IMU, magnetometer, and barometer data to ROS2. CANable2 freed from ESP32 BALANCE comms (bd-wim1) now runs Here4 at 1 Mbps DroneCAN. Key features: - dronecan_parser.py: pure-Python DSDL converters (Fix2, RawIMU, Mag, StaticPressure, StaticTemperature, NodeStatus, RTCMStream chunks), testable without dronecan library or CAN hardware - here4_node.py: ROS2 node, auto-discovers Here4 node ID on first Fix2, publishes /gps/fix + /gps/velocity for navsat_transform EKF fusion, HDOP-based NavSatStatus upgrade (RTK/SBAS), RTCM injection via /rtcm (ByteMultiArray) or /rtcm_hex (String hex fallback) - 39 unit tests, all passing - bring_up_can:=true parameter to configure SocketCAN at launch Resolves bd-p47c Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Jetson Orin Nano Super — AI/SLAM Platform Setup
Self-balancing robot: Jetson Orin Nano Super dev environment for ROS2 Humble + SLAM stack.
Stack
| Component | Version / Part |
|---|---|
| Platform | Jetson Orin Nano Super 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 |
| <<<<<<< HEAD | |
| MCU bridge | ESP32 (USB CDC @ 921600) |
======= | MCU bridge | ESP32-S3 (USB Serial (CH343) @ 921600) |
291dd68(feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
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
<<<<<<< HEAD
├── docker-compose.yml # Multi-service stack (ROS2, RPLIDAR, D435i, ESP32 BALANCE)
=======
├── docker-compose.yml # Multi-service stack (ROS2, RPLIDAR, D435i, ESP32-S3)
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
├── 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.