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feat(social): audio wake-word detector 'hey salty' (Issue #320) 
Energy-gated log-mel + cosine-similarity wake-word node. Subscribes to
/social/speech/audio_raw (PCM-16 UInt8MultiArray), maintains a 1.5 s
sliding ring buffer, runs detection every 100 ms; fires Bool(True) on
/saltybot/wake_word_detected with 2 s cooldown. Template loaded from
.npy file; passive (no detections) when template_path is empty.
91/91 tests pass.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-03 00:26:59 -05:00
..
calibration
feat(calibration): IMX219 intrinsic + extrinsic calibration workflow (Issue #106)
2026-03-02 08:38:24 -05:00
config
feat(mapping): RTAB-Map persistence + multi-session + map management (Issue #123)
2026-03-02 09:17:54 -05:00
docs
feat: Orin Nano Super platform update + 4x IMX219 CSI cameras
2026-02-28 22:59:13 -05:00
models
feat(social): Orin dev environment — JetPack 6 + TRT conversion + systemd (#88)
2026-03-02 08:08:57 -05:00
ros2_ws/src
feat(social): audio wake-word detector 'hey salty' (Issue #320)
2026-03-03 00:26:59 -05:00
scripts
feat(social): Orin dev environment — JetPack 6 + TRT conversion + systemd (#88)
2026-03-02 08:08:57 -05:00
systemd
feat(social): Orin dev environment — JetPack 6 + TRT conversion + systemd (#88)
2026-03-02 08:08:57 -05:00
docker-compose.yml
feat(social): Orin dev environment — JetPack 6 + TRT conversion + systemd (#88)
2026-03-02 08:08:57 -05:00
Dockerfile
feat: update SLAM stack for Jetson Orin Nano Super (67 TOPS, JetPack 6)
2026-02-28 21:46:27 -05:00
Dockerfile.social
feat(social): Orin dev environment — JetPack 6 + TRT conversion + systemd (#88)
2026-03-02 08:08:57 -05:00
README.md
feat: Jetson Nano platform setup and Docker env (bd-1hcg)
2026-02-28 12:46:14 -05:00

README.md

Jetson Nano — AI/SLAM Platform Setup

Self-balancing robot: Jetson Nano dev environment for ROS2 Humble + SLAM stack.

Stack

Component Version / Part
Platform Jetson Nano 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 STM32F722 (USB CDC @ 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

Files

jetson/
├── Dockerfile              # L4T base + ROS2 Humble + SLAM packages
├── docker-compose.yml      # Multi-service stack (ROS2, RPLIDAR, D435i, STM32)
├── 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.