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Final pass after sl-firmware/cleanup-legacy-hw initial sweep: Deleted: - legacy/stm32/ (entire archive — all STM32 firmware, HAL stubs, tests, platformio.ini, USB_CDC lib — moved there by prior commit, now removed) - test/test_ota.py (STM32 JLink/DFU OTA tests — imports from deleted legacy/stm32/scripts/; irrelevant to ESP32 OTA mechanism) Updated: - docs/wiring-diagram.md: remove "Mamba F722S / STM32 retired" banner and obsolete STM32 UART pin table (PA2/PB6/etc.); replace with ESP32-S3 GPIO table per SAUL-TEE-SYSTEM-REFERENCE.md - docs/AGENTS.md: remove "archived STM32 HAL code" note - TEAM.md: remove legacy/stm32/USB_CDC_BUG.md references - serial_bridge_node.py: "stm32_serial_bridge" → "esp32_serial_bridge" Result: grep for mamba|f722|stm32f7|stm32f4|blackpill across all *.py *.cpp *.h *.c *.md *.yaml *.ini *.json returns zero hits (excluding docs/SAUL-TEE-SYSTEM-REFERENCE.md superseded-hw table). 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.