sl-perception
c5d6a72d39
Platform upgrade: Jetson Nano 4GB → Orin Nano Super 8GB (March 1, 2026) All Nano-era constraints removed — power/rate/resolution limits obsolete. Dockerfile: l4t-jetpack:r36.2.0 (JetPack 6 / Ubuntu 22.04 / CUDA 12.x), ROS2 Humble via native apt, added ros-humble-rtabmap-ros, ros-humble-v4l2-camera for future IMX219 CSI (Phase 2c) New: slam_rtabmap.launch.py — Orin primary SLAM entry point RTAB-Map with subscribe_scan (RPLIDAR) + subscribe_rgbd (D435i) Replaces slam_toolbox as docker-compose default New: config/rtabmap_params.yaml — Orin-optimized DetectionRate 10Hz, MaxFeatures 1000, Grid/3D true, TimeThr 0 (no limit), Mem/STMSize 0 (unlimited) Updated: config/realsense_d435i.yaml — 848x480x30, pointcloud enabled Updated: config/slam_toolbox_params.yaml — 10Hz rate, 1s map interval Updated: SLAM-SETUP-PLAN.md — full rewrite for Orin: arch diagram, Phase 2c IMX219 plan (4x 160° CSI surround), 25W power budget docker-compose.yml: image tag jetson-orin, default → slam_rtabmap.launch.py Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
67 lines
2.3 KiB
YAML
67 lines
2.3 KiB
YAML
# slam_toolbox — online async SLAM configuration
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# Jetson Orin Nano Super — all Nano rate caps removed.
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#
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# Primary SLAM is now RTAB-Map (slam_rtabmap.launch.py).
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# slam_toolbox retained for LIDAR-only localization against pre-built maps.
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#
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# Input: /scan (LaserScan from RPLIDAR A1M8, ~5.5 Hz)
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# Output: /map (OccupancyGrid)
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slam_toolbox:
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ros__parameters:
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odom_frame: odom
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map_frame: map
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base_frame: base_link
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scan_topic: /scan
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mode: mapping
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resolution: 0.05
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max_laser_range: 8.0
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map_update_interval: 1.0 # 1s (was 5s on Nano)
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minimum_travel_distance: 0.2
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minimum_travel_heading: 0.2
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minimum_time_interval: 0.1 # ~10Hz processing (was 0.5s on Nano)
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transform_timeout: 0.2
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tf_buffer_duration: 30.0
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stack_size_to_use: 40000000
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enable_interactive_mode: false
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use_scan_matching: true
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use_scan_barycenter: true
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scan_buffer_size: 20
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scan_buffer_maximum_scan_distance: 10.0
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do_loop_closing: true
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loop_match_minimum_chain_size: 10
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loop_match_maximum_variance_coarse: 3.0
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loop_match_minimum_response_coarse: 0.35
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loop_match_minimum_response_fine: 0.45
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loop_search_maximum_distance: 3.0
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correlation_search_space_dimension: 0.5
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correlation_search_space_resolution: 0.01
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correlation_search_space_smear_deviation: 0.1
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loop_search_space_dimension: 8.0
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loop_search_space_resolution: 0.05
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loop_search_space_smear_deviation: 0.03
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link_match_minimum_response_fine: 0.1
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link_scan_maximum_distance: 1.5
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use_response_expansion: true
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distance_variance_penalty: 0.5
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angle_variance_penalty: 1.0
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fine_search_angle_offset: 0.00349
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coarse_search_angle_offset: 0.349
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coarse_angle_resolution: 0.0349
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minimum_angle_penalty: 0.9
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minimum_distance_penalty: 0.5
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solver_plugin: solver_plugins::CeresSolver
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ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
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ceres_preconditioner: SCHUR_JACOBI
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ceres_trust_strategy: LEVENBERG_MARQUARDT
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ceres_dogleg_type: TRADITIONAL_DOGLEG
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ceres_loss_function: None
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