sl-webui f71dad5344 feat(arch): migrate all STM32/Mamba/BlackPill refs to ESP32 BALANCE/IO + fix roslib@1.4.0

Architecture change (2026-04-03): Mamba F722S (STM32F722) and BlackPill
replaced by ESP32 BALANCE (PID loop) and ESP32 IO (motors/sensors/comms).

- Update CLAUDE.md, docs, chassis BOM/ASSEMBLY, pinout, power-budget,
  wiring-diagram, TEAM.md, AUTONOMOUS_ARMING.md, docker-compose
- Update all ROS2 package comments, config labels, launch args
  (stm32_port→esp32_port, /dev/stm32-bridge→/dev/esp32-bridge)
- Update WebUI: stm32Mode→esp32Mode, stm32Version→esp32Version,
  "STM32 State/Mode" labels → "ESP32 State/Mode" (ControlMode, SettingsPanel)
- Add TODO(esp32-migration) markers on stm32_protocol.py and mamba_protocol.py
  binary frame layouts — pending ESP32 protocol spec from max
- Fix roslib CDN 1.3.0→1.4.0 in all 11 HTML panels (fixes ROS2 Humble
  rosbridge "Received a message without an op" incompatibility)

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-04-04 08:25:24 -04:00

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SLAM Setup Plan — Jetson Orin Nano Super

Bead: bd-wax (plan), bd-a2j (sensor drivers done PR #17) Phase: 2 | Owner: sl-perception Updated: 2026-03-01 — revised for Jetson Orin Nano Super (replaces Nano 4GB)

All Nano-era constraints (10W cap, 2Hz detection, 400 features, no 3D) are obsolete.

Hardware

Component	Specs
AI Brain	Jetson Orin Nano Super 8GB — 6-core A78AE, 1024-core Ampere, 67 TOPS, JetPack 6
Depth Cam	Intel RealSense D435i — 848×480 @ 90fps, BMI055 IMU
LIDAR	RPLIDAR A1M8 — 360° 2D, 12m range, ~5.5 Hz
Wide Cams	4× IMX219 160° CSI — front/right/rear/left 90° intervals (arriving)
FC	ESP32 — UART bridge `/dev/ttyACM0` @ 921600

1. OS & ROS2

JetPack 6 = Ubuntu 22.04 → ROS2 Humble via native apt (no Docker workarounds needed).

sudo apt install ros-humble-desktop ros-humble-rtabmap-ros \
  ros-humble-rplidar-ros ros-humble-realsense2-camera \
  ros-humble-slam-toolbox ros-humble-nav2-bringup

Docker still supported for CI. Updated Dockerfile uses nvcr.io/nvidia/l4t-jetpack:r36.2.0.

2. SLAM Stack

Primary: RTAB-Map (RGB-D + 2D LIDAR fusion)

Parameter	Nano 4GB (old)	Orin Nano Super
Detection rate	2 Hz	10 Hz
Visual features	400	1000
D435i profile	640×480×15fps	848×480×30fps
3D point cloud	disabled	enabled
Map type	2D only	2D + 3D
Processing time limit	700ms	none
Short-term memory	30 keyframes	unlimited

Fusion: RPLIDAR /scan (fast 2D loop closure) + D435i depth (3D reconstruction + visual odometry).

Secondary: slam_toolbox (LIDAR-only localization / pre-built map mode)

3. Architecture

Jetson Orin Nano Super (Ubuntu 22.04 / JetPack 6 / CUDA 12.x)

  realsense2_camera          rplidar_ros
  848×480×30fps              /scan ~5.5Hz 360°
  /camera/color              │
  /camera/depth              │
  /camera/imu ~400Hz         │
        │                    │
        └──────────┬─────────┘
                   ▼
            rtabmap_ros
            10Hz | 3D cloud | 1000 features
            → /rtabmap/map         (OccupancyGrid)
            → /rtabmap/cloud_map   (PointCloud2)
            → /rtabmap/odom        (Odometry)
                   │
                   ▼
             Nav2 stack            (Phase 2b)
             20Hz costmap
             /cmd_vel → ESP32 BALANCE

  4× IMX219 CSI               (Phase 2c — pending hardware)
  front/right/rear/left 160°
  → panoramic stitch, person tracking

4. Phases

Phase	Status	Description
2a	✅ Done (PR #17)	Sensor drivers — `saltybot_bringup` package
2a+	✅ Done (PR #36)	Orin update: Dockerfile JetPack 6, RTAB-Map launch + config
2b	✅ Done (PR #49)	Nav2 integration — path planning + obstacle avoidance
2c	✅ Done (PR #52)	4× IMX219 surround vision + Nav2 camera obstacle layer
2d	✅ Done (this PR)	Outdoor navigation — OSM routing + GPS waypoints + geofence

5. RTAB-Map Config (Orin)

Full config: jetson/config/rtabmap_params.yaml

Rtabmap/DetectionRate: "10"     # was 2 on Nano
Kp/MaxFeatures:        "1000"   # was 400
RGBD/LinearUpdate:     "0.05"   # 5cm  (was 10cm)
RGBD/AngularUpdate:    "0.05"   # ~3°  (was 5°)
Grid/3D:               "true"   # 3D cloud enabled  (was false)
Rtabmap/TimeThr:       "0"      # no limit  (was 700ms)
Mem/STMSize:           "0"      # unlimited  (was 30)

6. 4× IMX219 Layout (Phase 2c)

      FRONT (CSI0) 160°
LEFT  (CSI3) ×  RIGHT (CSI1)
      REAR  (CSI2) 160°

90° between cameras, 160° FOV → ~70° overlap at each boundary, full 360° coverage.

ROS topics (planned): /camera/{front,right,rear,left}/image_raw @ 30Hz, /camera/panoramic/image_raw @ 15Hz (stitched equirectangular).

7. Power Budget (Orin Nano Super)

Scenario	Total
SLAM active (RTAB-Map + D435i + RPLIDAR)	~16W
+ 4× IMX219	~17W
+ Nav2 + TensorRT person detection	~22W

Orin Nano Super TDP: 25W max. Recommended PSU: 5V 5A (25W) from robot buck converter. No power gating needed. Run sudo nvpmodel -m 0 && sudo jetson_clocks for full performance.

8. Milestones

Flash JetPack 6 on Orin (arriving March 1)
sudo apt install ros-humble-desktop ros-humble-rtabmap-ros ...
Verify D435i: lsusb | grep "8086:0b3a"
Verify RPLIDAR: ls /dev/rplidar
colcon build --packages-select saltybot_bringup
ros2 launch saltybot_bringup sensors.launch.py — verify topics
ros2 launch saltybot_bringup slam_rtabmap.launch.py — verify /rtabmap/map
ros2 topic hz /rtabmap/cloud_map — verify 3D cloud
Record rosbag, monitor tegrastats for thermal headroom
Update static TF with real mount measurements
Open bead: Phase 2b Nav2
Open bead: Phase 2c IMX219 (after hardware arrives)

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