sl-jetson
eab26c35c5
New package: saltybot_vesc_health - recovery_fsm.py: pure state machine (no ROS2/CAN deps; fully unit-tested) - VescHealthState: HEALTHY → DEGRADED (>500 ms) → ESTOP (>2 s) / BUS_OFF - VescMonitor.tick(): drives recovery sequence per VESC; startup-safe - VescMonitor.on_frame(): resets state on CAN frame arrival - VescMonitor.on_bus_off/on_bus_ok(): bus-off override + recovery - HealthFsm: dual-VESC wrapper aggregating both monitors - health_monitor_node.py: ROS2 node - Subscribes /vesc/left/state + /vesc/right/state (JSON from vesc_telemetry) - Sends GET_VALUES alive frames via SocketCAN on DEGRADED state - Publishes /vesc/health (JSON, 10 Hz) — state, elapsed, recent faults - Publishes /diagnostics (DiagnosticArray, OK/WARN/ERROR per VESC) - Publishes /estop (JSON event) + zero /cmd_vel on e-stop trigger/clear - Polls ip link for bus-off state (1 Hz) - 200-entry fault event log included in /vesc/health - test/test_vesc_health.py: 39 unit tests, all passing, no hardware needed - config/vesc_health_params.yaml, launch/vesc_health.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.