sl-perception
e0987fcec8
Implements Phase 2d outdoor autonomous navigation for SaltyBot. GPS source: SIM7600X /gps/fix from PR #65 (saltybot_cellular). saltybot_outdoor package: - osm_router_node: Overpass API + A* haversine graph + Douglas-Peucker simplification, /outdoor/route (Path) + /outdoor/waypoints (PoseArray) - gps_waypoint_follower_node: GPS->Nav2 navigate_through_poses bridge, quality-adaptive tolerances (2m cellular / 0.30m RTK) - geofence_node: ray-casting polygon safety, emergency stop on violation - outdoor_nav.launch.py: dual-EKF + navsat_transform + all nodes - outdoor_nav_params.yaml: 1.5m/s, no static_layer, 2m GPS tolerance - ekf_outdoor.yaml: robot_localization dual-EKF + navsat_transform - geofence_vertices.yaml: template with usage instructions docker-compose.yml: fix malformed saltybot-surround block; add saltybot-outdoor service (depends on saltybot-nav2, OSM NVMe cache) SLAM-SETUP-PLAN.md: Phase 2d done RTK upgrade: SIM7600X (+-2.5m) -> ZED-F9P (+-2cm), set use_rtk:=true Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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 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, 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.