Robot Clearpath Platform Software Changelog

Current versions:

note

Nested packages are part of the top repository.

• clearpath_msgs:
  • clearpath_motor_msgs
  • clearpath_msgs
  • clearpath_platform_msgs
• clearpath_config:
• clearpath_common:
  • clearpath_bt_joy
  • clearpath_common
  • clearpath_control
  • clearpath_customization
  • clearpath_description
  • clearpath_diagnostics
  • clearpath_generator_common
  • clearpath_manipulators
  • clearpath_manipulators_description
  • clearpath_mounts_description
  • clearpath_platform_description
  • clearpath_sensors_description
• clearpath_robot:
  • clearpath_generator_robot
  • clearpath_platform
  • lynx_motor_driver
  • puma_motor_driver
  • clearpath_robot
  • clearpath_sensors
  • clearpath_tests

[2.6] 2025-07-04

New Features

• Added Lynx 1.0.1 firmware for A300 motor controllers (see here to update) with many performance improvements
• Added travel field to Lynx feedback
• Added MCU service for clearing needs_reset on A300
• Updated Power.msg CC01 enums
• Added sensor sample for phidgets_spatial
• Added support for W200
• Enabled foxglove bridge by default
• Added A300 AMP attachments, samples
• Added foxglove dependency
• Enabled dependency on sevcon and valence bms
• Updated grab-diagnostics to latest

Fixed

• Fixed W200 Diff Drive Parameters
• Re-enable publishing controller input to joy_teleop/cmd_vel
• Dropped A200 controller manager update rate
• Fixed expected diagnostics rates
• Fixed missing dependency lms1xx

[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