History

sl-perception dc01efe323 feat: 4x IMX219 surround vision + Nav2 camera obstacle layer (Phase 2c)

New ROS2 package saltybot_surround:

surround_costmap_node
  - Subscribes to /camera/{front,left,rear,right}/image_raw
  - Detects obstacles via Canny edge detection + ground projection
  - Pinhole back-projection: pixel row → forward distance (d = h*fy/(v-cy))
  - Rotates per-camera points to base_link frame using known camera yaws
  - Publishes /surround_vision/obstacles (PointCloud2, 5 Hz)
  - Catches chairs, glass walls, people that RPLIDAR misses
  - Placeholder IMX219 fisheye calibration (hook for real cal via cv2.fisheye)

surround_vision_node
  - IPM homography computed from camera height + pinhole model
  - 4× bird's-eye patches composited into 240×240px 360° overhead view
  - Publishes /surround_vision/birdseye (Image, 10 Hz)
  - Robot footprint + compass overlay

surround_vision.launch.py
  - Launches both nodes with surround_vision_params.yaml
  - start_cameras arg: set false when csi-cameras container runs separately

Updated:
- jetson/config/nav2_params.yaml   add surround_cameras PointCloud2 source
                                    to local + global costmap obstacle_layer
- jetson/docker-compose.yml        add saltybot-surround service
                                    (depends_on: csi-cameras, start_cameras:=false)
- projects/saltybot/SLAM-SETUP-PLAN.md  Phase 2c ✅ Done

Calibration TODO (run after hardware assembly):
  ros2 run camera_calibration cameracalibrator --size 8x6 --square 0.025 \
    image:=/camera/front/image_raw camera:=/camera/front
  Replace placeholder K/D in surround_costmap_node._undistort()

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-02-28 23:19:23 -05:00

config

feat: 4x IMX219 surround vision + Nav2 camera obstacle layer (Phase 2c)

2026-02-28 23:19:23 -05:00

docs

feat: Orin Nano Super platform update + 4x IMX219 CSI cameras

2026-02-28 22:59:13 -05:00

ros2_ws/src

feat: 4x IMX219 surround vision + Nav2 camera obstacle layer (Phase 2c)

2026-02-28 23:19:23 -05:00

scripts

feat: Orin Nano Super platform update + 4x IMX219 CSI cameras

2026-02-28 22:59:13 -05:00

docker-compose.yml

feat: 4x IMX219 surround vision + Nav2 camera obstacle layer (Phase 2c)

2026-02-28 23:19:23 -05:00

Dockerfile

feat: update SLAM stack for Jetson Orin Nano Super (67 TOPS, JetPack 6)

2026-02-28 21:46:27 -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

docs/pinout.md — GPIO/I2C/UART pinout for all peripherals
docs/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, 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.