sl-jetson
ea26cda76a
Add battery_node.py: - Subscribes /saltybot/telemetry/battery (JSON from stm32_cmd_node) - Publishes sensor_msgs/BatteryState on /saltybot/battery at 1 Hz - SoC source priority: STM32 fuel gauge soc_pct field → fallback to 3S LiPo voltage curve (12-point lookup with linear interpolation) - Charging detection: current_ma < -100 mA threshold - Alert levels: WARNING (20%)→speed 60%, CRITICAL (10%)→speed 30%, EMERGENCY (5%)→zero /cmd_vel + /saltybot/arm(False) disarm - /saltybot/battery/alert JSON topic on threshold crossings - /saltybot/speed_limit Float32 (0.0-1.0) for nav speed capping - SQLite history logging: /var/log/saltybot/battery.db, 7-day retention - Hourly prune timer to keep DB bounded Add test_battery.py (70+ tests, no ROS2 runtime): - SoC lookup: all curve points, interpolation, clamping, 3S/4S packs - Alert level thresholds and transitions for all levels - Speed factor assignments per alert level - Charging detection logic - sensor_msgs/BatteryState field population - SQLite insert/retrieve/prune (in-memory and on-disk) - JSON telemetry parsing: normal, charging, soc_pct=0 fallback Add battery_params.yaml, battery.launch.py. 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.