Robot Operating System 2 (ROS 2) Overview
The information on these pages is for the ROS 2 Jazzy distribution. Use the dropdown box at the top of this page to select information for other ROS distributions.
For ROS 2 Jazzy, rather than having individual sets of packages for each
robot, we have opted to create common clearpath packages which are used by all supported platforms.
Additionally, we no long use environment variables to customize the robot, and instead using a YAML configuration file to describe the
robot. We have also defined a ROS 2 API common to all of our supported platforms. As a result,
our platforms are now more customizable, more modular, and more unified.
Terminology
Clearpath Platform: The platform refers to the vehicle that makes up the base of the robot. The platform may be referred to by the platform code to indicate the revision.
Clearpath Robot: The robot refers to the entire robotic system, including the platform, sensors, and additional accessories.
Clearpath Config: The config refers to the robot.yaml configuration file that defines the Clearpath robot.
Clearpath API: The API refers to the ROS 2 application programming interface. This is a set of ROS 2 topics and services defined by Clearpath which are used by all supported Clearpath platforms.
Supported Platforms
| Platform | Platform code | Humble (amd64) | Humble (arm64) | Jazzy (amd64) | Jazzy (arm64) |
|---|---|---|---|---|---|
| Husky | A200 | Yes (as of 0.1) | No | Yes (as of 2.0) | Coming Soon |
| A300 | No | No | Yes (as of 2.0) | Coming Soon | |
| Jackal | J100 | Yes (as of 0.1) | No | Yes (as of 2.3) | Coming Soon |
| Warthog | W200 | Yes (as of 0.2) | No | Coming Soon | Coming Soon |
| Dingo | DD100 | Yes (as of 0.3) | No | Yes (as of 2.3) | Coming Soon |
| DO100 | Yes (as of 1.0) | No | Yes (as of 2.3) | Coming Soon | |
| DD150 | Yes (as of 0.3) | No | Yes (as of 2.3) | Coming Soon | |
| DO150 | Yes (as of 1.0) | No | Yes (as of 2.3) | Coming Soon | |
| Ridgeback | R100 | Yes (as of 0.3) | No | Yes (as of 2.3) | Coming Soon |
| Boxer | B250 | No | No | No | No |
Supported Sensors
While some sensor drivers may support other sensor models, the table below represents the sensors that have been validated by Clearpath.
Debian drivers are automatically installed on robots as part of the Clearpath Robot Metapackage.
2D Lidars
| Sensor | Humble (amd64) | Humble (arm64) | Jazzy (amd64) | Jazzy (arm64) | Source |
|---|---|---|---|---|---|
| SICK LMS-111/LMS-151 | Debian | Debian | Debian | Debian | LMS1xx |
| Hokuyo UST10-LX | Debian | Debian | Debian | Debian | urg_node |
| Hokuyo UST20-LX | Debian | Debian | Debian | Debian | urg_node |
| Hokuyo UST30-LX | Debian | Debian | Debian | Debian | urg_node |
3D Lidars
| Sensor | Humble (amd64) | Humble (arm64) | Jazzy (amd64) | Jazzy (arm64) | Source |
|---|---|---|---|---|---|
| Velodyne Puck | Debian | Debian | Debian | Debian | Velodyne |
| Ouster OS-1 | Debian | Debian | Debian | Debian | Ouster |
| Seyond Robin | Source | Source | Source | Source | Seyond |
IMUs
| Sensor | Humble (amd64) | Humble (arm64) | Jazzy (amd64) | Jazzy (arm64) | Source |
|---|---|---|---|---|---|
| MicroStrain 3DM-GX5 | Debian | Debian | Debian | Debian | LORD Inertial |
| MicroStrain 3DM-GQ7 | Debian | Debian | Debian | Debian | LORD Inertial |
| Redshift Labs UM7 | Debian | Debian | Debian | Debian | UM7 |
| CH Robotics UM6 | Debian | Debian | Debian | Debian | UM7 |
GPS
| Sensor | Humble (amd64) | Humble (arm64) | Jazzy (amd64) | Jazzy (arm64) | Source |
|---|---|---|---|---|---|
| MicroStrain 3DM-GQ7 | Debian | Debian | Debian | Debian | LORD Inertial |
| Garmin GPS 18x | Debian | Debian | Debian | Debian | NMEA Navsat Driver |
| Swift Navigation Duro | Source | Source | Source | Source | Duro GPS Driver |
| NovAtel SMART6 and SMART7 | Debian | Debian | Debian | Debian | NMEA Navsat Driver |
Inertial Navigation Sensors
| Sensor | Humble (amd64) | Humble (arm64) | Jazzy (amd64) | Jazzy (arm64) | Source |
|---|---|---|---|---|---|
| Fixposition Vision-RTK 2 | Source | Source | Source | Source | Fixposition Driver |
Optical Cameras
| Sensor | Humble (amd64) | Humble (arm64) | Jazzy (amd64) | Jazzy (arm64) | Source |
|---|---|---|---|---|---|
| Axis F1035-E | Debian | Debian | Debian | Debian | axis_camera |
| Axis M5525-E | Debian | Debian | Debian | Debian | axis_camera |
| Axis Q6225-LE-E | Debian | Debian | Debian | Debian | axis_camera |
| Flir Blackfly S | Debian | Debian | Debian | Debian | flir_camera_driver |
Depth Cameras
| Sensor | Humble (amd64) | Humble (arm64) | Jazzy (amd64) | Jazzy (arm64) | Source |
|---|---|---|---|---|---|
| Intel Realsense D435 | Debian | Debian | Debian | Debian | Realsense |
| Intel Realsense D435i | Debian | Debian | Debian | Debian | Realsense |
| Intel Realsense D415 | Debian | Debian | Debian | Debian | Realsense |
| Intel Realsense D455 | Debian | Debian | Debian | Debian | Realsense |
| Intel Realsense D456 | Debian | Debian | Debian | Debian | Realsense |
| Luxonis OAK-D | Debian | Debian | Debian | Debian | depthai-ros |
| Stereolabs Zed 2 | Source | Source | Source | Source | zed-ros2-wrapper |
Changelog
[2.3] 2025-05-11
New Features
- Added temperature indices for all platforms
- Remove temperature fields from status message
- Added display status message for A300 display
- Added a single Hokuyo laser to default R100 sample
- Maintain default can adapters but allow overwriting if matching names
- Added Wiferion Charger
- Added CAN adapters
- Rename camera IMU topics from imu to imu/data_raw
- Added delay to manipulator controller
- Added Manipulator URDF Parameters
- Added MoveIt Parameters and Enable
- Added Manipulator Samples and Poses
- Removed J100 from unsupported platforms
- Changed all sensor samples to the Husky A300
- Added support for INS sensors + Fixposition XVN
- Removed Dingo and Ridgeback from unsupported exception
- Move extras launch into a new service
- Added remapping for upstream mecanum controller
- Updated mecanum controller types
- Add exception handling to the generators to print a nicer error message in the case of self-generated Unsupported* exceptions
- Added Graceful shutdown for A300 FW
- Increased TCPIP and NETBUF Mbox sizes to allow for larger bursts of UDP packets
- UDP CAN bridge improvements
- Ethernet Bootloader for A300
- Added Dingo, Ridgeback and Jackal Jazzy firmware
- Increase status text size for A300 FW
- Create Error Screen Drawing Function for A300 FW
- Made fan commands a hidden topic for A300 FW
- Switch aux output pins to default to high on boot for A300 FW
- Added inventus diagnostics
- Automatically rerun install script on package update
- Move symlinks into
clearpath-robot.service.wantsinstead ofmulti-user.target.wants - Add
clearpath_testsas dependency for metapackage - Reduced Puma feedback frequency to 20hz
- Added lynx firmware update process diagnostics
- Added user fan control and hysteresis when leaving a warning/error state
- Added diagnostic categories
- Add UR socat tool communication script
Fixed
- Updated the A300's default IMU location
- Handle empty namespace
- Stop clearpath platform service before flashing over ethernet
- Updated diagnostic for changes to MCU status message
- Fixed estop diagnostics
- Added python3-apt as exec dep
- Change path to imu_filter to platform config
- Increased power and timer task stack sizes to fix crashing on A300 MCU
[2.0] 2025-02-28
New Features
- First Jazzy release
Fixed
- First Jazzy release