hardleel — Raspberry Pi robot backup

Backup of the home folder (/home/hardleel) from the Raspberry Pi hardleel, taken 2026-10-15.

• Hardware: Raspberry Pi 4 Model B (4 GB)
• OS: Ubuntu 24.04.5 LTS (kernel 6.8.0-raspi)
• ROS: ROS 2 Jazzy (/opt/ros/jazzy, not included — reinstall via apt)

Contents

Path	What it is
ros2_ws/src/	ROS 2 workspace sources (incl. waste_classifier)
pi_cam/	Camera node (pi_cam_node.py)
waste_files/	Waste classifier service + packaging script
start_slam.sh, lidar_*.py, dir_check.py	Helper scripts
maps/	Saved SLAM map (my_map.*)
test_photos/, frame-*.ppm	Camera captures
frames_*.pdf/.gv	TF frame tree exports
motor_teleop.zip, robot_slam.zip	Packaged projects
cyclonedds.xml	DDS config
installed-packages.txt	apt / snap / pip package lists for rebuilding the system

Third-party packages (vendored, unmodified at backup time)

• ros2_ws/src/sllidar_ros2 — https://github.com/Slamtec/sllidar_ros2 @ 3430009
• ros2_ws/src/rf2o_laser_odometry — https://github.com/MAPIRlab/rf2o_laser_odometry @ b38c68e

Mapping & navigation (updated 2026-10-15)

• map_track.sh [name] [autosave_s] — keyboard-drive the robot while Cartographer maps; autosaves ~/maps/<name>_autosave.* every few seconds and saves ~/maps/<name>.* on Ctrl+C.
• LiDAR mounting yaw fixed to 0.0 (was 180°) in carto_mapping, slam, nav, nav_slam launch files.
• setup.py now installs config/*.lua (Cartographer config was missing from the install).
• nav.launch.py uses localization_slow_cpu_launch.py / navigation_slow_cpu_launch.py (Nav2 Jazzy copies with bond_timeout 10 s for the Pi 4) and AMCL starts at the map origin.
• Latest map: maps/track_20261015_1232.*

Simulation (Robotics Dojo 2026 field)

ros2_ws/src/rdj2026_sim - Gazebo Fortress + ROS 2 Humble copy of the 2026 game field with a simulated hardleel, for mapping / Nav2 / Virtual SLAM practice. See its README.

Not included

SSH keys, shell history, /etc (contains Wi-Fi and password data), installed Python packages in ~/.local/lib, and ROS build output (build/, install/, log/).

Restore

git clone <this repo> ~/restore && rsync -a ~/restore/ ~/
cd ~/ros2_ws && rosdep install --from-paths src -y --ignore-src && colcon build