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Oleksandr Bezdieniezhnykh
58a1678417
Three discoveries from on-Jetson build (image builds clean in ~3m18s after fixes; gtsam-4.3a0, torch 2.4.0+cuda, cv2 4.11.0 all import OK inside container running --runtime=nvidia): 1. dustynv/l4t-pytorch's /etc/pip.conf bakes in a local Jetson mirror (jetson.webredirect.org) that's only reachable from the maintainer LAN. pip's DNS lookup fails everywhere else. Wipe the config and pin --index-url to upstream PyPI. 2. The image ships pip 24.2. The SUT's `gtsam<5.0,>=4.2` constraint matches ONLY gtsam-4.3a0 on PyPI (no stable aarch64 wheels), and pip 24.x rejects pre-releases unless --pre is set. The Colima image lands on the same wheel because its pip 26.x has explicit fallback-to-pre-release logic. Bump pip before installing the SUT to align resolver behavior across both harnesses. 3. Skip the [inference] extra entirely — the base image ships Tegra-tuned torch / torchvision that re-pip would clobber with x86 builds lacking cuDNN/cuBLAS for Orin. Co-authored-by: Cursor <cursoragent@cursor.com>
gps-denied-onboard
Companion onboard system for GPS-denied UAV navigation. Detailed design and architecture documentation lives under _docs/.
Quick links
- Problem statement:
_docs/00_problem/problem.md - Architecture:
_docs/02_document/architecture.md - Module layout (file ownership):
_docs/02_document/module-layout.md - Component docs:
_docs/02_document/components/ - Test specs:
_docs/02_document/tests/ - Deployment:
_docs/02_document/deployment/
Local development
python -m venv .venv && source .venv/bin/activate
pip install -e ".[dev]"
pytest -q tests/unit/
For full Tier-1 integration via Docker, see _docs/02_document/deployment/containerization.md.
Build matrix
Four binaries built from this codebase: airborne, research, operator-orchestrator, replay-cli. CMake BUILD_* flags gate component inclusion per binary — see cmake/build_options.cmake and _docs/02_document/module-layout.md § Build-Time Exclusion Map.