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>
98 lines
4.5 KiB
Docker
98 lines
4.5 KiB
Docker
# Jetson Orin Nano Super — ROS2 Humble dev container
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# Base: JetPack 6 (L4T R36.2.0) + CUDA 12.x / Ubuntu 22.04
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#
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# Hardware: Jetson Orin Nano Super 8GB (67 TOPS, 1024-core Ampere)
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# Previous: Jetson Nano 4GB (JetPack 4.6 / L4T R32.6.1) — see git history
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FROM nvcr.io/nvidia/l4t-jetpack:r36.2.0
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LABEL maintainer="sl-perception <saltylab>"
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LABEL description="ROS2 Humble + SLAM stack for Jetson Orin Nano Super self-balancing robot"
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LABEL jetpack="6.0"
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LABEL l4t="r36.2.0"
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LABEL ros_distro="humble"
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ENV DEBIAN_FRONTEND=noninteractive
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ENV ROS_DISTRO=humble
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ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}
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ENV PYTHONDONTWRITEBYTECODE=1
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ENV PYTHONUNBUFFERED=1
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# ── Locale ─────────────────────────────────────────────────────────────────────
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RUN apt-get update && apt-get install -y --no-install-recommends \
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locales tzdata \
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&& locale-gen en_US.UTF-8 \
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&& rm -rf /var/lib/apt/lists/*
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ENV LANG=en_US.UTF-8
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# ── System deps ─────────────────────────────────────────────────────────────────
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RUN apt-get update && apt-get install -y --no-install-recommends \
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build-essential cmake git wget curl \
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python3-dev python3-pip python3-setuptools python3-wheel \
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i2c-tools libi2c-dev python3-smbus \
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picocom minicom setserial \
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usbutils libusb-1.0-0-dev \
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htop tmux nano \
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net-tools iputils-ping \
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&& rm -rf /var/lib/apt/lists/*
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# ── ROS2 Humble (Ubuntu 22.04 native — standard apt, no ARM64 workarounds) ─────
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RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc \
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| gpg --dearmor -o /usr/share/keyrings/ros-archive-keyring.gpg && \
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echo "deb [arch=arm64 signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
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http://packages.ros.org/ros2/ubuntu jammy main" \
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> /etc/apt/sources.list.d/ros2.list && \
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apt-get update && apt-get install -y --no-install-recommends \
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ros-humble-ros-base \
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ros-humble-rmw-cyclonedds-cpp \
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ros-dev-tools \
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python3-colcon-common-extensions \
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python3-rosdep \
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&& rosdep init && rosdep update \
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&& rm -rf /var/lib/apt/lists/*
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# ── SLAM / Nav / Sensor packages ───────────────────────────────────────────────
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RUN apt-get update && apt-get install -y --no-install-recommends \
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ros-humble-rtabmap-ros \
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ros-humble-slam-toolbox \
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ros-humble-nav2-bringup \
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ros-humble-robot-localization \
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ros-humble-rplidar-ros \
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ros-humble-realsense2-camera \
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ros-humble-realsense2-description \
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ros-humble-tf2-tools \
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ros-humble-robot-state-publisher \
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ros-humble-rqt \
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ros-humble-rqt-common-plugins \
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ros-humble-rviz2 \
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ros-humble-rosbridge-server \
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ros-humble-image-transport-plugins \
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ros-humble-v4l2-camera \
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&& rm -rf /var/lib/apt/lists/*
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# ── GPIO / serial Python libs ───────────────────────────────────────────────────
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RUN pip3 install --no-cache-dir \
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Jetson.GPIO pyserial smbus2 numpy scipy
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# ── RealSense SDK (librealsense2 ARM64 for JetPack 6) ─────────────────────────
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RUN apt-get update && apt-get install -y --no-install-recommends \
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libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev \
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&& rm -rf /var/lib/apt/lists/*
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RUN pip3 install --no-cache-dir pyrealsense2
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# ── Workspace setup ────────────────────────────────────────────────────────────
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RUN mkdir -p /ros2_ws/src
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WORKDIR /ros2_ws
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RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /root/.bashrc && \
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echo "source /ros2_ws/install/local_setup.bash 2>/dev/null || true" >> /root/.bashrc && \
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echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /root/.bashrc
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# ── Entrypoint ─────────────────────────────────────────────────────────────────
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COPY scripts/entrypoint.sh /entrypoint.sh
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RUN chmod +x /entrypoint.sh
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ENTRYPOINT ["/entrypoint.sh"]
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CMD ["bash"]
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