sl-controls
a50f22d56b
Adds cmd_vel_bridge_node — a standalone ROS2 node that subscribes to Nav2 /cmd_vel and drives the STM32 over USB CDC with: - Hard velocity limits (max_linear_vel=0.5 m/s, max_angular_vel=2.0 rad/s) - Smooth ESC ramp (500 ESC-units/s, 50 Hz control loop) - Deadman switch: zeros targets if /cmd_vel silent >500 ms - Mode gate: sends drive only when STM32 reports md=2 (AUTONOMOUS) - Telemetry RX → /saltybot/imu, /saltybot/balance_state, /diagnostics - Heartbeat TX every 200 ms (H\n) Deliverables: saltybot_bridge/cmd_vel_bridge_node.py — node implementation config/cmd_vel_bridge_params.yaml — tunable parameters launch/cmd_vel_bridge.launch.py — standalone launch file test/test_cmd_vel_bridge.py — 37 pytest unit tests (no ROS2) setup.py — register node + new data files 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.