bb35ddd56d
- Resolve 73 committed conflict markers (bulk resolution taking theirs/ESP32 side) - Rename all MAMBA_CMD_* → BALANCE_CMD_*, MAMBA_TELEM_* → BALANCE_TELEM_* - Rename FC_STATUS/VESC/IMU/BARO → BALANCE_STATUS/VESC/IMU/BARO in protocol_defs.py - Update can_bridge_node.py: fix imports, replace legacy encode/decode calls with balance_protocol equivalents (encode_velocity_cmd, encode_mode_cmd, decode_imu_telem, decode_battery_telem, decode_vesc_state); fix watchdog and destroy_node - Rename stm32_protocol.py/stm32_cmd_node.py → esp32_protocol.py/esp32_cmd_node.py - Delete mamba_protocol.py; stm32_cmd.launch.py/stm32_cmd_params.yaml archived - Update can_bridge_params.yaml: mamba_can_id → balance_can_id - Update docs/AGENTS.md, SALTYLAB.md, wiring-diagram.md for ESP32-S3 architecture - Update test/test_ota.py sys.path to legacy/stm32/scripts/flash_firmware.py - No legacy STM32/Mamba refs remain outside legacy/ and SAUL-TEE-SYSTEM-REFERENCE.md 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 |
| MCU bridge | ESP32-S3 (USB Serial (CH343) @ 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, ESP32-S3)├── 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.