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Version: ROS 2 Jazzy

Robot Clearpath Platform Software Changelog

[2.5] 2025-05-30​

New Features​

  • Added Foxglove bridge enable to platform section
  • Added enable setting for wireless-watcher
  • Added CAN Bridge Parameters
  • Added cap_type parameter to the OS1 sample since it's supported
  • Moved clearpath_diagnostics to clearpath_common
  • Added cooling and ekf-node diagnostic settings conditionally
  • Increased A300 teleop normal speed to 0.4, reduce turbo speed to 1.5
  • Switched ros2_canopen Inventus driver switch to C++

Fixed​

  • Fixed PACS Limits
  • Fixed Post and Riser Leg Mounts
  • Fixed the velocity limits for Dingo-O using Logitech controllers
  • Fixed symlink rule to rely on DS4DRV instead
  • Renamed to low soc cutoff from low voltage cutoff and fixed service client name
  • Added parameter files for Dingo (all variants), Ridgeback
  • Fixed the slam launch file to use the new lifecycle node
  • Use osEventFlags to signal when i2c reads and writes are complete for A300
  • Ping updates to all platforms
  • Increased max ARP age on all platforms
  • Wait till the power supplies are on to report fuse errors for A300
  • Check for valid return code on systemctl stop process for A300 bootloader
  • Adc task to 20Hz for A300
  • Make sure "Abort" is called asap when I2C transaction times out for A300

[2.4] 2025-04-30​

New Features​

  • Added pinout messages
  • Moved clearpath_tests into clearpath_robot
  • Added a software based low voltage cut-off for the A300
  • Added pinout control node for the A300
  • Update Nav2 configuration files for Jazzy
  • Added motor voltage monitoring for A300
  • Added config bits and revision bits to status message for A300
  • Detect if there is low voltage on power rails which have a fuse for A300
  • Added shutdown service to micro-ros for A300
  • Bootloader improvements
  • Added user power for A300
  • Added errors for power good signals and user power contactors for A300
  • Added Fan Speed Monitoring for A300
  • Added Error Reporting API for A300

Fixed​

  • Fixed the Husky A300 serial sample to match the real serial
  • Updated Ridgeback R100 raiser height to 0.07m from 0.055m
  • Removed duplicate and incorrect current / voltage labels
  • Fixed debian post-install permissions
  • Fixed event flag wait timeout in power task shutdown handling for A300

[2.3] 2025-04-11​

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.wants instead of multi-user.target.wants
  • Add clearpath_tests as 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
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