mikkeli
570a8c541d
Co-Authored-By: Claude Opus 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_013kj58Jugkic783b8ZrtTVZ
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1.2 KiB
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Initial plan
Scope
Turn a GNSS fix plus a destination into guidance on the bus. Nothing about rendering — that belongs to the display client.
Order
- Confirm Valhalla builds and runs on the Jetson (arm64). This is the one real integration risk in the whole navigation workstream — upstream's arm64 container story is unsettled. Do it before anything else.
- Stand up Valhalla against artifacts from
tool-mapmint, serving HTTP locally. - Define the routing provider interface, with Valhalla as the first implementation.
- Bridge: subscribe to
yukart/gnss/fix, publishyukart/nav/guidance. - Meili map matching over recorded sessions — see below.
Why map matching comes early
Meili's trace_attributes snaps a recorded GNSS trace onto OSM and returns road
attribution along it: speed limit, road class, geometry. That is ground truth for
validating reverse-engineered CAN signals, which is otherwise guesswork. It is
worth having before any navigation UI exists.
Blocked on
Live guidance needs a GNSS fix, which needs gpsd, which needs the SIM7600 brought up in orin-nano-env-setup. Everything else here can be built and validated against a replayed trace.