Raspberry Pi Robot Stack

This repository is the deployed Docker Compose configuration for the Raspberry Pi 5 robot runtime. Container source code is maintained in the paper repository, and Jetson YOLO processing is maintained in jetson-stack.

Active services

docker-compose.yaml starts:

• Nav2 and AMCL navigation
• PostgreSQL/PostGIS storage
• RPLidar input
• SLAM and RF2O fallback odometry
• sensor fusion and IMU yaw correction
• direct Raspberry Pi GPIO motor control
• Raspberry Pi AI Kit service
• rosbridge and Foxglove bridges
• RealSense RGB, depth, point-cloud and IMU streams
• MCAP bag recording and read-only bag browsing
• log collection and runtime health checks

All services use the host network where required by ROS 2 or hardware access.

Configuration

1. Copy .env.example to .env.
2. Set image tags, DB_PASS and device-specific values.
3. Keep .env private; it is ignored by Git.
4. Render CycloneDDS configuration after changing its inputs.

cp .env.example .env
scripts/render_cyclonedds_config.sh
docker compose config
docker compose up -d

The tracked files under config/containers are the active mounted runtime configuration. Files ending in .env contain non-secret service settings; shared and sensitive values belong in the ignored root .env.

Active configuration groups

File	Purpose
bridge_rpi_direct.env	GPIO pins, drivetrain geometry and motor behavior
drive_profiles/*.env	Selected surface dynamics and motor transition safety
nav_cont.env	command routing, safety, inspection and pose persistence
nav2_params.yaml	Nav2 planners, controllers and costmaps
collision_monitor_params.yaml	collision-monitor zones and sources
slam_cont.env / slam_params.yaml	mapping and localization behavior
sensor_fusion_cont.env / robot_localization.yaml	IMU correction and EKF
realsense_cont.env	RealSense streams and watchdog
recorded_topics.yaml	MCAP topic selection
logging.yaml	container log collection
cyclonedds.xml	generated DDS network configuration

Maps

Select a map before starting localization:

scripts/select_map.sh <session-or-map-path>

Start or stop mapping with:

scripts/start_mapping.sh
scripts/stop_mapping.sh

Validation

docker compose config
bash -n scripts/*.sh

The optional lightweight Raspberry Pi monitoring deployment is documented in monitoring/README.md.