sl-perception
c5d6a72d39
Platform upgrade: Jetson Nano 4GB → Orin Nano Super 8GB (March 1, 2026) All Nano-era constraints removed — power/rate/resolution limits obsolete. Dockerfile: l4t-jetpack:r36.2.0 (JetPack 6 / Ubuntu 22.04 / CUDA 12.x), ROS2 Humble via native apt, added ros-humble-rtabmap-ros, ros-humble-v4l2-camera for future IMX219 CSI (Phase 2c) New: slam_rtabmap.launch.py — Orin primary SLAM entry point RTAB-Map with subscribe_scan (RPLIDAR) + subscribe_rgbd (D435i) Replaces slam_toolbox as docker-compose default New: config/rtabmap_params.yaml — Orin-optimized DetectionRate 10Hz, MaxFeatures 1000, Grid/3D true, TimeThr 0 (no limit), Mem/STMSize 0 (unlimited) Updated: config/realsense_d435i.yaml — 848x480x30, pointcloud enabled Updated: config/slam_toolbox_params.yaml — 10Hz rate, 1s map interval Updated: SLAM-SETUP-PLAN.md — full rewrite for Orin: arch diagram, Phase 2c IMX219 plan (4x 160° CSI surround), 25W power budget docker-compose.yml: image tag jetson-orin, default → slam_rtabmap.launch.py Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
79 lines
4.5 KiB
YAML
79 lines
4.5 KiB
YAML
# RTAB-Map configuration — Jetson Orin Nano Super
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#
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# Hardware context: 67 TOPS, 1024-core Ampere GPU, 8GB RAM
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# All Nano-era constraints (2Hz cap, 400 features, no 3D) removed.
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#
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# Sensor inputs:
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# /scan LaserScan from RPLIDAR A1M8 ~5.5 Hz
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# /camera/color/image_raw RGB from RealSense D435i 30 Hz
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# /camera/depth/image_rect_raw Depth from D435i 30 Hz
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# /camera/color/camera_info Camera intrinsics 30 Hz
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#
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# Outputs:
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# /rtabmap/map OccupancyGrid (2D occupancy)
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# /rtabmap/cloud_map PointCloud2 (3D point cloud, enabled)
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# /rtabmap/odom Odometry (visual-inertial odometry)
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# /rtabmap/mapData Map data for serialization/loop closure
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#
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# Frame assumptions (match sensors.launch.py static TF):
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# map → odom → base_link → laser
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# → camera_link
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rtabmap:
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ros__parameters:
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# ── Core rate and timing ───────────────────────────────────────────────────
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# Process at 10Hz — far below D435i 30fps ceiling, still 5x faster than Nano
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Rtabmap/DetectionRate: "10"
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# No processing time limit — Orin has headroom (Nano was 700ms)
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Rtabmap/TimeThr: "0"
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# Update map every 5cm or ~3° rotation (was 10cm / 5°)
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RGBD/LinearUpdate: "0.05"
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RGBD/AngularUpdate: "0.05"
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# ── Visual features ────────────────────────────────────────────────────────
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# 1000 ORB features per frame (Nano was 400)
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Kp/MaxFeatures: "1000"
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Vis/MaxFeatures: "1000"
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# ── Memory ────────────────────────────────────────────────────────────────
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# Unlimited short-term memory — 8GB RAM (Nano was 30 keyframes)
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Mem/STMSize: "0"
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# Keep full map in working memory
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Mem/IncrementalMemory: "true"
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# ── Map generation ────────────────────────────────────────────────────────
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# 3D occupancy grid enabled — Ampere GPU handles point cloud generation
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Grid/3D: "true"
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Grid/CellSize: "0.05" # 5cm voxels
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Grid/RangeMin: "0.3" # ignore points closer than 30cm
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Grid/RangeMax: "8.0" # clip at A1M8 reliable range
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# ── Sensor subscriptions ──────────────────────────────────────────────────
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# Subscribe to both RPLIDAR scan (fast 2D) and D435i depth (3D)
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subscribe_scan: "true"
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subscribe_rgbd: "true"
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subscribe_odom_info: "false"
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# ── Loop closure ──────────────────────────────────────────────────────────
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# More aggressive loop closure — Orin can handle it
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RGBD/LoopClosureReextractFeatures: "true"
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Kp/IncrementalFlann: "true"
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# ── Odometry ──────────────────────────────────────────────────────────────
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# Use F2M (frame-to-map) visual odometry — more accurate on Orin
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Odom/Strategy: "0" # 0=F2M, 1=F2F
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Odom/ResetCountdown: "1"
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OdomF2M/MaxSize: "2000"
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# ── RGBD node input topics ─────────────────────────────────────────────────
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rgb_topic: /camera/color/image_raw
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depth_topic: /camera/depth/image_rect_raw
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camera_info_topic: /camera/color/camera_info
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depth_camera_info_topic: /camera/depth/camera_info
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scan_topic: /scan
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# ── Output ────────────────────────────────────────────────────────────────
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# Publish 3D point cloud map
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cloud_output_voxelized: "true"
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cloud_voxel_size: "0.05" # match Grid/CellSize
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