sl-perception
76067d6d89
Adds saltybot_bringup ROS2 package with four launch files: - realsense.launch.py — D435i at 640x480x15fps, IMU unified topic - rplidar.launch.py — RPLIDAR A1M8 via /dev/rplidar udev symlink - sensors.launch.py — both sensors + static TF (base_link→laser/camera) - slam.launch.py — sensors + slam_toolbox online_async (compose entry point) Sensor config YAMLs (mounted at /config/ in container): - realsense_d435i.yaml — Nano power-budget settings (15fps, no pointcloud) - rplidar_a1m8.yaml — Standard scan mode, 115200 baud, laser frame - slam_toolbox_params.yaml — Nano-tuned (2Hz processing, 5cm resolution) Fixes docker-compose volume mount: ./ros2_ws/src:/ros2_ws/src (was ./ros2_ws:/ros2_ws/src — would have double-nested the src directory) Topic reference and verification commands in SENSORS.md. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
137 lines
4.2 KiB
YAML
137 lines
4.2 KiB
YAML
version: "3.8"
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# Jetson Nano — ROS2 Humble SLAM stack
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# Run with: docker compose up -d
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# Requires: NVIDIA Container Runtime (nvidia-docker2) on host
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services:
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# ── Core ROS2 + SLAM node ─────────────────────────────────────────────────
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saltybot-ros2:
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image: saltybot/ros2-humble:jetson-nano
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-ros2
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restart: unless-stopped
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runtime: nvidia # JetPack NVIDIA runtime
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privileged: false # use device passthrough instead
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network_mode: host # ROS2 DDS multicast needs host networking
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environment:
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- NVIDIA_VISIBLE_DEVICES=all
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- NVIDIA_DRIVER_CAPABILITIES=all
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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- ROS_DOMAIN_ID=42
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- DISPLAY=${DISPLAY:-:0} # for RViz2 on host X11
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volumes:
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# X11 socket for RViz2
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- /tmp/.X11-unix:/tmp/.X11-unix:rw
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# ROS2 workspace (host-mounted for live dev)
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# Mount src/ subdirectory so host structure mirrors container /ros2_ws/src/
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- ./ros2_ws/src:/ros2_ws/src:rw
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# Persistent SLAM maps
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- saltybot-maps:/maps
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# Config files
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- ./config:/config:ro
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devices:
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# RPLIDAR A1M8 — typically /dev/ttyUSB0
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- /dev/ttyUSB0:/dev/ttyUSB0
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# STM32 UART bridge — typically /dev/ttyUSB1 or /dev/ttyACM0
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- /dev/ttyUSB1:/dev/ttyUSB1
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# RealSense D435i — USB3 device, needs udev rules
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- /dev/bus/usb:/dev/bus/usb
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# I2C bus (Jetson i2c-1 = pins 3/5)
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- /dev/i2c-1:/dev/i2c-1
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# GPIO (via Jetson.GPIO)
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- /sys/class/gpio:/sys/class/gpio
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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ros2 launch saltybot_bringup slam.launch.py
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"
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# ── RPLIDAR driver node ────────────────────────────────────────────────────
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rplidar:
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image: saltybot/ros2-humble:jetson-nano
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-rplidar
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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environment:
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- ROS_DOMAIN_ID=42
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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devices:
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- /dev/ttyUSB0:/dev/ttyUSB0
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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ros2 launch rplidar_ros rplidar_a1_launch.py
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serial_port:=/dev/ttyUSB0
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frame_id:=laser
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"
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# ── RealSense D435i driver node ────────────────────────────────────────────
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realsense:
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image: saltybot/ros2-humble:jetson-nano
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-realsense
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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environment:
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- ROS_DOMAIN_ID=42
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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devices:
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- /dev/bus/usb:/dev/bus/usb
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volumes:
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- /dev:/dev
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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ros2 launch realsense2_camera rs_launch.py
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enable_color:=true
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enable_depth:=true
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enable_gyro:=true
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enable_accel:=true
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unite_imu_method:=linear_interpolation
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depth_module.profile:=640x480x30
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rgb_camera.profile:=640x480x30
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"
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# ── STM32 bridge node (custom serial↔ROS2 bridge) ─────────────────────────
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stm32-bridge:
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image: saltybot/ros2-humble:jetson-nano
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-stm32-bridge
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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environment:
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- ROS_DOMAIN_ID=42
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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devices:
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- /dev/ttyUSB1:/dev/ttyUSB1
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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ros2 run saltybot_stm32_bridge bridge_node
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--ros-args
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-p serial_port:=/dev/ttyUSB1
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-p baud_rate:=921600
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"
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volumes:
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saltybot-maps:
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driver: local
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