sl-jetson
cea3eaff97
- Renamed mamba_protocol.py → balance_protocol.py; updated all importers - can_bridge_node.py rewritten to use balance_protocol.py API (ESP32-S3 BALANCE) - test_can_bridge.py rewritten to test actual balance_protocol.py constants/functions - All STM32/Mamba references in Python, YAML, Markdown, shell scripts replaced: * Hardware: MAMBA F722S → ESP32-S3 BALANCE/IO * Device paths: /dev/stm32-bridge → /dev/esp32-io * Node names: stm32_serial_bridge → esp32_io_serial_bridge * hardware_id: stm32f722 → esp32s3-balance/esp32s3-io - C/C++ src/include/lib/test files: added DEPRECATED header comment - Covers: saltybot_bridge, saltybot_can_bridge, saltybot_can_e2e_test, saltybot_bringup, saltybot_diagnostics, saltybot_mode_switch, and all chassis, docs, scripts, and project files Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
66 lines
1.8 KiB
Markdown
66 lines
1.8 KiB
Markdown
# Jetson Nano — AI/SLAM Platform Setup
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Self-balancing robot: Jetson Nano dev environment for ROS2 Humble + SLAM stack.
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## Stack
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| Component | Version / Part |
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|-----------|---------------|
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| Platform | Jetson Nano 4GB |
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| JetPack | 4.6 (L4T R32.6.1, CUDA 10.2) |
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| ROS2 | Humble Hawksbill |
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| DDS | CycloneDDS |
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| SLAM | slam_toolbox |
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| Nav | Nav2 |
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| Depth camera | Intel RealSense D435i |
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| LiDAR | RPLIDAR A1M8 |
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| Motor controller | ESP32-S3 BALANCE (CAN bus 500 kbps) |
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## Quick Start
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```bash
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# 1. Host setup (once, on fresh JetPack 4.6)
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sudo bash scripts/setup-jetson.sh
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# 2. Build Docker image
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bash scripts/build-and-run.sh build
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# 3. Start full stack
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bash scripts/build-and-run.sh up
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# 4. Open ROS2 shell
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bash scripts/build-and-run.sh shell
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```
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## Docs
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- [`docs/pinout.md`](docs/pinout.md) — GPIO/I2C/UART pinout for all peripherals
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- [`docs/power-budget.md`](docs/power-budget.md) — 10W power envelope analysis
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## Files
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```
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jetson/
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├── Dockerfile # L4T base + ROS2 Humble + SLAM packages
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├── docker-compose.yml # Multi-service stack (ROS2, RPLIDAR, D435i, ESP32-S3)
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├── README.md # This file
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├── docs/
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│ ├── pinout.md # GPIO/I2C/UART pinout reference
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│ └── power-budget.md # Power budget analysis (10W envelope)
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└── scripts/
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├── entrypoint.sh # Docker container entrypoint
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├── setup-jetson.sh # Host setup (udev, Docker, nvpmodel)
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└── build-and-run.sh # Build/run helper
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```
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## Power Budget (Summary)
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| Scenario | Total |
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|---------|-------|
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| Idle | 2.9W |
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| Nominal (SLAM active) | ~10.2W |
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| Peak | 15.4W |
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Target: 10W (MAXN nvpmodel). Use RPLIDAR standby + 640p D435i for compliance.
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See [`docs/power-budget.md`](docs/power-budget.md) for full analysis.
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