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>
169 lines
5.6 KiB
Markdown
169 lines
5.6 KiB
Markdown
# SLAM Setup Plan — Jetson Orin Nano Super
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**Bead:** bd-wax (plan), bd-a2j (sensor drivers done PR #17)
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**Phase:** 2 | **Owner:** sl-perception
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**Updated:** 2026-03-01 — revised for Jetson Orin Nano Super (replaces Nano 4GB)
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> All Nano-era constraints (10W cap, 2Hz detection, 400 features, no 3D) are obsolete.
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---
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## Hardware
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| Component | Specs |
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|-----------|-------|
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| AI Brain | **Jetson Orin Nano Super 8GB** — 6-core A78AE, 1024-core Ampere, **67 TOPS**, JetPack 6 |
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| Depth Cam | Intel RealSense D435i — 848×480 @ 90fps, BMI055 IMU |
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| LIDAR | RPLIDAR A1M8 — 360° 2D, 12m range, ~5.5 Hz |
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| Wide Cams | 4× IMX219 160° CSI — front/right/rear/left 90° intervals *(arriving)* |
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| FC | STM32F722 — UART bridge `/dev/ttyACM0` @ 921600 |
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---
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## 1. OS & ROS2
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JetPack 6 = Ubuntu 22.04 → ROS2 Humble via **native apt** (no Docker workarounds needed).
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```bash
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sudo apt install ros-humble-desktop ros-humble-rtabmap-ros \
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ros-humble-rplidar-ros ros-humble-realsense2-camera \
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ros-humble-slam-toolbox ros-humble-nav2-bringup
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```
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Docker still supported for CI. Updated `Dockerfile` uses `nvcr.io/nvidia/l4t-jetpack:r36.2.0`.
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---
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## 2. SLAM Stack
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### Primary: RTAB-Map (RGB-D + 2D LIDAR fusion)
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| Parameter | Nano 4GB (old) | **Orin Nano Super** |
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|-----------|---------------|---------------------|
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| Detection rate | 2 Hz | **10 Hz** |
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| Visual features | 400 | **1000** |
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| D435i profile | 640×480×15fps | **848×480×30fps** |
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| 3D point cloud | disabled | **enabled** |
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| Map type | 2D only | **2D + 3D** |
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| Processing time limit | 700ms | **none** |
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| Short-term memory | 30 keyframes | **unlimited** |
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Fusion: RPLIDAR `/scan` (fast 2D loop closure) + D435i depth (3D reconstruction + visual odometry).
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### Secondary: slam_toolbox (LIDAR-only localization / pre-built map mode)
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---
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## 3. Architecture
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```
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Jetson Orin Nano Super (Ubuntu 22.04 / JetPack 6 / CUDA 12.x)
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realsense2_camera rplidar_ros
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848×480×30fps /scan ~5.5Hz 360°
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/camera/color │
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/camera/depth │
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/camera/imu ~400Hz │
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│ │
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└──────────┬─────────┘
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▼
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rtabmap_ros
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10Hz | 3D cloud | 1000 features
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→ /rtabmap/map (OccupancyGrid)
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→ /rtabmap/cloud_map (PointCloud2)
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→ /rtabmap/odom (Odometry)
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│
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▼
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Nav2 stack (Phase 2b)
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20Hz costmap
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/cmd_vel → STM32
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4× IMX219 CSI (Phase 2c — pending hardware)
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front/right/rear/left 160°
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→ panoramic stitch, person tracking
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```
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---
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## 4. Phases
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| Phase | Status | Description |
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|-------|--------|-------------|
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| 2a | ✅ Done (PR #17) | Sensor drivers — `saltybot_bringup` package |
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| 2a+ | ✅ Done (PR #36) | Orin update: Dockerfile JetPack 6, RTAB-Map launch + config |
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| 2b | ✅ Done (PR #49) | Nav2 integration — path planning + obstacle avoidance |
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| 2c | ✅ Done (PR #52) | 4× IMX219 surround vision + Nav2 camera obstacle layer |
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| 2d | ✅ Done (this PR) | Outdoor navigation — OSM routing + GPS waypoints + geofence |
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---
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## 5. RTAB-Map Config (Orin)
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Full config: `jetson/config/rtabmap_params.yaml`
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```yaml
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Rtabmap/DetectionRate: "10" # was 2 on Nano
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Kp/MaxFeatures: "1000" # was 400
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RGBD/LinearUpdate: "0.05" # 5cm (was 10cm)
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RGBD/AngularUpdate: "0.05" # ~3° (was 5°)
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Grid/3D: "true" # 3D cloud enabled (was false)
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Rtabmap/TimeThr: "0" # no limit (was 700ms)
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Mem/STMSize: "0" # unlimited (was 30)
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```
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---
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## 6. 4× IMX219 Layout (Phase 2c)
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```
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FRONT (CSI0) 160°
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LEFT (CSI3) × RIGHT (CSI1)
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REAR (CSI2) 160°
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```
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90° between cameras, 160° FOV → ~70° overlap at each boundary, full 360° coverage.
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ROS topics (planned): `/camera/{front,right,rear,left}/image_raw` @ 30Hz,
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`/camera/panoramic/image_raw` @ 15Hz (stitched equirectangular).
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---
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## 7. Power Budget (Orin Nano Super)
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| Scenario | Total |
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|----------|-------|
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| SLAM active (RTAB-Map + D435i + RPLIDAR) | ~16W |
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| + 4× IMX219 | ~17W |
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| + Nav2 + TensorRT person detection | ~22W |
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Orin Nano Super TDP: **25W max**. Recommended PSU: 5V 5A (25W) from robot buck converter.
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No power gating needed. Run `sudo nvpmodel -m 0 && sudo jetson_clocks` for full performance.
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---
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## 8. Milestones
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- [ ] Flash JetPack 6 on Orin (arriving March 1)
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- [ ] `sudo apt install ros-humble-desktop ros-humble-rtabmap-ros ...`
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- [ ] Verify D435i: `lsusb | grep "8086:0b3a"`
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- [ ] Verify RPLIDAR: `ls /dev/rplidar`
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- [ ] `colcon build --packages-select saltybot_bringup`
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- [ ] `ros2 launch saltybot_bringup sensors.launch.py` — verify topics
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- [ ] `ros2 launch saltybot_bringup slam_rtabmap.launch.py` — verify `/rtabmap/map`
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- [ ] `ros2 topic hz /rtabmap/cloud_map` — verify 3D cloud
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- [ ] Record rosbag, monitor `tegrastats` for thermal headroom
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- [ ] Update static TF with real mount measurements
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- [ ] Open bead: Phase 2b Nav2
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- [ ] Open bead: Phase 2c IMX219 (after hardware arrives)
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---
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## 9. References
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- [Jetson Orin Nano Super](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/)
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- [JetPack 6 / L4T R36](https://developer.nvidia.com/embedded/jetpack)
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- [dusty-nv/jetson-containers JetPack 6](https://github.com/dusty-nv/jetson-containers)
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- [rtabmap_ros ROS2](https://github.com/introlab/rtabmap_ros)
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- [realsense-ros](https://github.com/IntelRealSense/realsense-ros)
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- [IMX219 / nvarguscamerasrc on Jetson](https://developer.ridgerun.com/wiki/index.php/NVIDIA_Jetson_ISP_Control)
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