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JetRacer Docs Portal

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Use this portal as the canonical operations guide for setup, deployment, and runtime behavior.

Documentation Map

00. Jetson Nano Workaround: Ubuntu 20.04 host workaround and compatibility rules. 01. System Overview: High-level architecture, core capabilities, and stack intent. 02. Hardware and Assembly: BOM, interfaces, and physical integration model. 03. Deployment and Docker: Host prerequisites, container startup, and launch sequences. 04. Perception Stack: Lane follower and YOLO perception pipelines. 05. Navigation and SLAM: Localization, mapping, and navigation behavior. 06. Behavior and Arbitration: Priority orchestration through twist mux. 07. Voice Commander Stack: Offline voice command flow and goal dispatch. 08. Central Configuration: Single-source runtime tuning via main config YAML. 09. Technical Architecture: Nodes, topics, launch profiles, safety layer, and extension guidelines. 10. Runtime Tuning Guide: Real-time adjustments via Foxglove, CLI, and RQT. 11. Operational Guide: Startup, Mission Control, and Gamepad procedures. 12. Camera Calibration Guide: Camera Calibration for **IMX219-160** wide-angle CSI camera. 13. Gazebo Simulation: Simulate the full stack with Gazebo Harmonic — camera, LiDAR, IMU, and Ackermann drive. 14. RRT* Local Planner: Hardware-aware obstacle avoidance using LiDAR, an egocentric grid, and Pure Pursuit. 15.RViz2 Workflow: Remote visualization, profiles, and per-topic debugging for hardware and simulation.

Architecture at a Glance

graph TD
    CAM[CSI Camera / Sim Camera] --> LF[lane_following_node]
    CAM --> YOLO[yolo_detection]
    YOLO --> SB[semantic_behavior]
    LF -->|cmd_vel_lane| MUX[twist_mux]
    SB -->|cmd_vel_behavior| MUX
    CA[collision_assurance] -->|cmd_vel_behavior| MUX
    SS[safety_supervisor] -->|cmd_vel_safety P255| MUX
    TEL[teleop] -->|cmd_vel_teleop P10| MUX
    NAV[Nav2] -->|cmd_vel_nav_steer P3| MUX
    MUX -->|/cmd_vel| HW[jetracer_serial_node]
    HW --> MCU[RP2040 MCU]
    LIDAR[RPLidar] --> CA
    IMU[IMU] --> EKF[robot_localization EKF]
    ODOM_RAW[odom_raw] --> EKF
    EKF -->|/odom| LF
    EKF -->|/odom| NAV

Build The Docs Site

pip install -r requirements-docs.txt
mkdocs serve

Static build output:

mkdocs build