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Version: ROS 2 Humble

Ridgeback Maintenance

Battery Replacement​

If Ridgeback's batteries need replacement, they are accessible by removing the top-plate and the insulator cover. Before performing any service or maintenance to the robot, the battery pack must be fully disconnected. The batteries weigh approximately 33 kg (73 lbs) each, so use care and caution when lifting the batteries out of the chassis. Please contact Clearpath Robotics regarding replacement batteries.

It may also be necessary to remove the antenna cables carefully prior to removing the batteries.

Long-term storage​

When storing Ridgeback for long periods of time, its important to properly maintain the batteries to fully maximize their life. Consider one of the following two procedures when placing Ridgeback in long-term storage:

  • Fully charge Ridgeback, turn it off and put it into storage. Once a week, connect power to the charger and allow the charger to top up the battery for an hour or so.
  • Fully charge Ridgeback, turn it off and put it into storage, but leave the charger connected and powered the entire time Ridgeback is in storage via a wall timer that turns off for one hour every 24-hour cycle. The charger will monitor the battery and will automatically charge it up as needed. Note that the wall timer is needed since the charger times out and turns off otherwise.

Please contact Clearpath Robotics for additional information about Ridgeback's batteries.

Software Maintenance​

Getting New Packages​

note

If you are upgrading your robot from an older version of ROS, please refer to our upgrade instructions for upgrading to Melodic, Noetic and ROS 2 Humble.

Clearpath Robotics robots are always being improved, both its own software and the many community ROS packages upon which it depends! You can use the apt package management system to receive new versions all software running on the platform.

Each robot leaves the factory already configured to pull packages from http://packages.ros.org as well as http://packages.clearpathrobotics.com. To update your package and download new package versions, simply run:

sudo apt-get update
sudo apt-get dist-upgrade

MCU Firmware Update​

caution

Before flashing firmware, place your robot up on blocks or disengage the drivetrain. Firmware loading does not usually result in unintended motion, but it is safest when off the ground.

1. Download the Clearpath Firmware package from the Clearpath package server​

On an external computer, run the following commands:

sudo apt-get update
sudo apt-get install ros-humble-clearpath-firmware

2. Prepare the Robot​

note

Platforms with an Ethernet connection to the MCU have the option of flashing over USB or Ethernet. If you are updating to ROS 2 Humble for the first time, you must use USB. If you are updating ROS 2 Humble firmware to a newer version, using Ethernet is recommended. Skip this step if flashing over Ethernet.

The W200 MCU is located on the underside of the metal frame over the top of the computer.

W200 MCU
W200 MCU labels
  • The RST button, used to reset the MCU.
  • The BT0 button, used to enter the USB bootloader mode.

Place the W200 MCU into bootloader mode

While pressing BT0 on the MCU, connect the external computer to Warthog's MCU using a USB cable.

3. Flash the firmware​

Run the Clearpath firmware flash tool:

source /opt/ros/humble/setup.bash
ros2 run clearpath_firmware flash

Select your platform, then select which method of flashing you would like to use.

caution

Do not turn the robot off or unplug the cable while flashing firmware. If an error occurs while flashing, you can attempt to flash again over USB.

4. Place the robot back into normal operating mode​

note

If you flashed over Ethernet, skip this step.

Press the RST button. The MCU should enter regular operation.

Support​

Clearpath is committed to your success. Please get in touch with us and we will do our best to get you rolling again quickly: support@clearpathrobotics.com.

To get in touch with a salesperson regarding Clearpath Robotics products, please email research-sales@clearpathrobotics.com.

If you have an issue that is specifically about ROS and is something which may be of interest to the broader community, consider asking it on https://robotics.stackexchange.com. If you do not get a satisfactory response, please ping us and include a link to your question as posted there. If appropriate, we will answer in the ROS Answers context for the benefit of the community.

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