l4t deployment fixes: make the Jetson profile build + boot on real hardware by JohnYanxinLiu · Pull Request #371 · castacks/AirStack

JohnYanxinLiu · 2026-07-21T16:26:21Z

What features did you add and/or bugs did you address?

Which GitHub issue does this address?
No dedicated issue. Second PR in the real-robot deployment series (follows l4t infra fixes: aarch64 build args + robot-name resolution #370, "general robot deployment infra"). Makes the existing robot-l4t (Jetson / aarch64) profile actually build and boot on real hardware, and documents the name-resolution + build gotchas so they don't get rediscovered.
Additional description if not fully described in the GitHub issue
Three concerns, committed separately:
1. robot-l4t deployment knobs (compose + skill) — commit 1
- AUTONOMY_ROLE and FCU_URL are now ${VAR:-default} overridable (and FCU_URL is unquoted so the literal serial path reaches mavros).
- Rosbag output path is BAG_STORAGE_PATH-overridable (default unchanged: /media/airlab/Storage/airstack_collection).
- Mount full /dev so a hot-plugged USB FCU (ttyACM*) appears without a container restart.
- configure-multi-robot skill updated for the honor-pre-set-ROBOT_NAME guard from l4t infra fixes: aarch64 build args + robot-name resolution #370.
2. Deployment override template (env) — commit 2
- overrides/l4t-px4-realrobot.env: site-agnostic template surfacing the common knobs. ROBOT_NAME pinned directly (single-robot shortcut, with the fleet caveat documented). Mocap-agnostic — NatNet settings come in a later optitrack override.
3. l4t image build fixes (dockerfiles + skill + docs) — commit 3
- Dockerfile.l4t-stack-base: overwrite dustynv's /ros_entrypoint.sh with an exec "$@" passthrough. Its prebuilt source-ROS libs (fastcdr 2.2.5) were shadowing the apt Jazzy (2.2.7) Dockerfile.robot layers on, crashing mavros with symbol-lookup errors under tmux autolaunch.
- zed/Dockerfile.zed-l4t: bump ZED SDK 4.2 → 5.2 with the coupled ROS deps (zed_msgs 5.2.1, point_cloud_transport(_plugins) 4.x, add backward_ros).
Please add videos and images to demonstrate the feature.
N/A — build/config plumbing, no runtime UI.

How did you implement it?

The robot-l4t service already existed on develop; this parametrizes its hardcoded values rather than adding a new service, so multi-robot/hostname resolution stays the default and per-deployment values live in an override env file.
ROBOT_NAME is pinned only in the override, never on the shared service — a hardcoded name on the service collapses all robots onto one name/domain (see the configure-multi-robot skill).
The entrypoint fix is a single RUN that replaces the base image's entrypoint; shells still get ROS from /opt/ros/jazzy/setup.bash via .bashrc.

How do you run and use it?

# Build the Jetson images (on an aarch64 Jetson):
airstack image-build --profile l4t robot-l4t
# Run a single real robot with the override:
airstack up --env-file overrides/l4t-px4-realrobot.env robot-l4t
# Verify identity + FCU inside the container:
docker exec<robot-l4t-container> bash -lc 'echo "$ROBOT_NAME $ROS_DOMAIN_ID $FCU_URL"'# robot_1 1 /dev/ttyTHS4:115200

Testing with PyTest

No new pytests. This is infra/build plumbing with no hermetic runtime surface; the build_docker suite exercises the changed Dockerfiles/compose. Full l4t verification is hardware (Jetson + PX4 + ZED) and can't run on the x86 CI runner.
Optional: airstack test -m "build_docker or build_packages" -v

Documentation

Was mkdocs.yml updated? (y/n) n — no new page; updated the configure-multi-robot and docker-build-profiles skills and corrected docs/robot/docker/robot_identity.md.
Docs scope: name-resolution flow + l4t build gotchas now captured for the next agent/maintainer.
Visual media: N/A.

Versioning

Bumped .envVERSION0.19.0-alpha.6 → 0.19.0-alpha.7 (commit 4) with matching CHANGELOG [Unreleased] entries, clearing the version-increment gate.

🤖 Generated with Claude Code

github-actions · 2026-07-21T16:33:12Z

Test Metrics — `798ad5439f6e74cb31412a1279e8a3a3072bef55`

Pass rates

Test	Fail	Rate
isaac-sim.extensions.PegasusSimulator.extensions.pegasus.simulator.pegasus.simulator.tests.test_hello_world	1	0%
isaac-sim.standalone_examples.replicator.pose_generation.pose_tests.test_utils	1	0%
isaac-sim.standalone_examples.testing.isaacsim.benchmark.services.test_no_rendering	1	0%
isaac-sim.standalone_examples.testing.isaacsim.core.api.test_articulation_determinism	1	0%
isaac-sim.standalone_examples.testing.isaacsim.core.api.test_articulation_root	1	0%
isaac-sim.standalone_examples.testing.isaacsim.core.api.test_delete_in_contact	1	0%
isaac-sim.standalone_examples.testing.isaacsim.core.api.test_rendering	1	0%
isaac-sim.standalone_examples.testing.isaacsim.core.api.test_save_stage	1	0%
isaac-sim.standalone_examples.testing.isaacsim.core.api.test_time_stepping	1	0%
isaac-sim.standalone_examples.testing.isaacsim.cortex.framework.cortex_bringup_test	1	0%
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isaac-sim.standalone_examples.testing.isaacsim.sensors.physics.contact_sensor_test	1	0%
isaac-sim.standalone_examples.testing.isaacsim.sensors.rtx.rtx_lidar_test	1	0%
isaac-sim.standalone_examples.testing.isaacsim.sensors.rtx.rtx_radar_test	1	0%
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isaac-sim.standalone_examples.testing.isaacsim.simulation_app.test_extension_count	1	0%
isaac-sim.standalone_examples.testing.isaacsim.simulation_app.test_external	1	0%
isaac-sim.standalone_examples.testing.isaacsim.simulation_app.test_extra_args	1	0%
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isaac-sim.standalone_examples.testing.omni.replicator.agent.test_scripting	1	0%
isaac-sim.standalone_examples.testing.omni.syntheticdata.test_basic	1	0%
perception.natnet_ros2.test_natnet_ros2	1	0%
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ros_packages.logging.bag_recorder_pid.test.test_copyright	1	0%
ros_packages.logging.bag_recorder_pid.test.test_flake8	1	0%
ros_packages.logging.bag_recorder_pid.test.test_pep257	1	0%
ros_ws.src.local.planners.takeoff_landing_planner.test.scripts.test_takeoff_landing_planner	1	0%
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Baseline.DPVO.Pangolin.components.pango_python.pybind11.tests	1	0%
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_circular_buffer	1	0%
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_config_loadable	1	0%
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_config_macvo	1	0%
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_config_modules	1	0%
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_config_sequence	1	0%
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_config_tartanvo	1	0%
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_frontend	1	0%
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_matching	1	0%
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_performance_macvo	1	0%
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_stereo_depth	1	0%
ros_ws.src.ros2tak_tools.test.test_copyright	1	0%
ros_ws.src.ros2tak_tools.test.test_flake8	1	0%
ros_ws.src.ros2tak_tools.test.test_pep257	1	0%
ros_ws.src.sensors.camera_param_server.test.test_copyright	1	0%
ros_ws.src.sensors.camera_param_server.test.test_flake8	1	0%
ros_ws.src.sensors.camera_param_server.test.test_pep257	1	0%
ros_ws.src.sensors.gimbal_stabilizer.test.test_copyright	1	0%
ros_ws.src.sensors.gimbal_stabilizer.test.test_flake8	1	0%
ros_ws.src.sensors.gimbal_stabilizer.test.test_pep257	1	0%
ros_ws.src.sensors.lidar_point_cloud_filter.test.test_copyright	1	0%
ros_ws.src.sensors.lidar_point_cloud_filter.test.test_flake8	1	0%
ros_ws.src.sensors.lidar_point_cloud_filter.test.test_pep257	1	0%
sensors.lidar_point_cloud_filter.test_validation_core	1	0%

Metrics

Test	Metric	Value
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ros_packages.logging.bag_recorder_pid.test.test_copyright	duration_s	0s
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…e resolution Parametrize the robot-l4t compose service so a single service covers real deployments without editing compose: - AUTONOMY_ROLE and FCU_URL are now ${VAR:-default} overridable (and FCU_URL is unquoted so the literal serial path reaches mavros). - Rosbag output path is BAG_STORAGE_PATH-overridable. Update the configure-multi-robot skill to reflect the honor-pre-set-ROBOT_NAME guard (#370): document pinning ROBOT_NAME in an override for a single real robot, the never-on-the-shared-service caveat, and the unknown_robot fallback fixes by topology. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>

Deployment override for a single real PX4 robot on a Jetson (aarch64/l4t). Surfaces the common knobs at the top with sensible defaults: ROBOT_NAME pinned directly (single-robot shortcut honored by .bashrc), FCU_URL, AUTONOMY_ROLE, BAG_STORAGE_PATH, and RECORD_BAGS. Mocap-agnostic — NatNet/external-vision settings are added by a separate optitrack override. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>

Two real-hardware build fixes for the Jetson profile: - Dockerfile.l4t-stack-base: overwrite dustynv's /ros_entrypoint.sh with an `exec "$@"` passthrough. Its prebuilt source-ROS libs (fastcdr 2.2.5) were shadowing the apt Jazzy (2.2.7) that Dockerfile.robot layers on, crashing apt-built nodes like mavros with symbol-lookup errors under tmux autolaunch. - zed/Dockerfile.zed-l4t: bump ZED SDK 4.2 -> 5.2 and move the coupled ROS deps together (zed_msgs 5.2.1, point_cloud_transport(_plugins) 4.x, add backward_ros). Document both gotchas in the docker-build-profiles skill, and correct the stale unknown-robot -> unknown_robot in the robot_identity reference doc. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>

Version-increment gate: bump above develop's 0.19.0-alpha.6 and record the l4t deployment changes in the changelog. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>

JohnYanxinLiu · 2026-07-21T23:47:35Z

Successfully built and ran on real jetson hardware.

JohnYanxinLiuand others added 4 commits July 21, 2026 12:58

chore: bump version to 0.19.0-alpha.7
61a94b9
Version-increment gate: bump above develop's 0.19.0-alpha.6 and record the l4t deployment changes in the changelog. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>

JohnYanxinLiu force-pushed the johnliu/l4t-deployment-fix branch from 35b4b0a to 61a94b9Compare July 21, 2026 16:59

JohnYanxinLiu requested a review from krrishj18 July 21, 2026 17:06

JohnYanxinLiu marked this pull request as ready for review July 22, 2026 15:08

JohnYanxinLiu mentioned this pull request Jul 22, 2026
Test infra rework: YAML-driven unit-test collection + integration tier #372
Merged

krrishj18 approved these changes Jul 22, 2026
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krrishj18 merged commit 1a25d60 into developJul 22, 2026
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This was referenced Jul 23, 2026
OptiTrack e2e: NatNet emulator + real-robot PX4 external-vision fusion #373
Closed
OptiTrack (1/3): robot-side NatNet client + PX4 external-vision fusion #374
Open

JohnYanxinLiu mentioned this pull request Aug 4, 2026
Robot deployment fixes: bag recording + adding warning for robot-identity failure #377
Merged

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l4t deployment fixes: make the Jetson profile build + boot on real hardware - #371

l4t deployment fixes: make the Jetson profile build + boot on real hardware#371
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