History

sl-jetson a00dbe6429 feat: UWB follow-me system (#57 ) — saltybot_uwb package + sensor fusion

New packages
------------
saltybot_uwb_msgs (ament_cmake)
  • UwbRange.msg     — per-anchor range reading (anchor_id, range_m, raw_mm, rssi)
  • UwbRangeArray.msg — array of UwbRange published on /uwb/ranges

saltybot_uwb (ament_python)
  • ranging_math.py    — pure triangulate_2anchor() (height-compensated TWR
                         geometry, 2-anchor intersection) + KalmanFilter2D
                         (constant-velocity, numpy-free, 16 tests pass)
  • uwb_driver_node.py — SerialReader threads poll MaUWB ESP32-S3 DW3000
                         anchors via AT+RANGE?, triangulate, Kalman-smooth,
                         publish /uwb/target (PoseStamped/base_link) + /uwb/ranges
  • config/uwb_config.yaml, launch/uwb.launch.py
  • test/test_ranging_math.py — 16 unit tests (triangulation + Kalman), all pass

Updated saltybot_follower
-------------------------
  • person_follower_node.py — adds fuse_targets() pure helper + /uwb/target
    subscriber (primary, weight=0.7); /person/target secondary (weight=0.3);
    weighted blend when both fresh, graceful fallback to single source; new
    params uwb_weight + uwb_timeout
  • person_follower_params.yaml — uwb_weight: 0.7, uwb_timeout: 1.0s
  • test_person_follower.py — 7 new TestFuseTargets cases; total 60 pass

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

2026-03-01 00:48:03 -05:00

config

feat: 4x IMX219 surround vision + Nav2 camera obstacle layer (Phase 2c)

2026-02-28 23:19:23 -05:00

docs

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

2026-02-28 22:59:13 -05:00

ros2_ws/src

feat: UWB follow-me system (#57 ) — saltybot_uwb package + sensor fusion

2026-03-01 00:48:03 -05:00

scripts

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

2026-02-28 22:59:13 -05:00

docker-compose.yml

feat: rosbridge WebSocket server for web UI (port 9090)

2026-03-01 00:22:02 -05:00

Dockerfile

feat: update SLAM stack for Jetson Orin Nano Super (67 TOPS, JetPack 6)

2026-02-28 21:46:27 -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.