Supported Components
This page lists the current support state for active ROS 2 distributions.
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) | Source | Yes (as of 2.3) | Coming Soon |
| Warthog | W200 | Yes (as of 0.2) | No | Yes (as of 2.6) | Coming Soon |
| Dingo | DD100 | Yes (as of 0.3) | Source | Yes (as of 2.3) | Coming Soon |
| DO100 | Yes (as of 1.0) | Source | Yes (as of 2.3) | Coming Soon | |
| DD150 | Yes (as of 0.3) | Source | Yes (as of 2.3) | Coming Soon | |
| DO150 | Yes (as of 1.0) | Source | Yes (as of 2.3) | Coming Soon | |
| Ridgeback | R100 | Yes (as of 0.3) | Source | Yes (as of 2.3) | Coming Soon |
| Boxer | B250 | No | No | No | No |
Supported ROS 2 Middleware
note
If you need your Clearpath robot to interact with systems that rely on unsupported middleware, please refer to ROS' middleware documentation for information on cross-vendor communication.
| Platform | Platform code | Fast DDS | CycloneDDS | Connext DDS | GurumDDS | Zenoh |
|---|---|---|---|---|---|---|
| Husky | A200 | Yes | Yes | No | No | Yes |
| A300 | Yes | Yes (as of 2.9) | No | No | Yes (as of 2.9) | |
| Jackal | J100 | Yes | Yes (as of 2.9) | No | No | Yes (as of 2.9) |
| Warthog | W200 | Yes | Yes (as of 2.9) | No | No | Yes (as of 2.9) |
| Dingo | DD100 | Yes | Yes (as of 2.9) | No | No | Yes (as of 2.9) |
| DO100 | Yes | Yes (as of 2.9) | No | No | Yes (as of 2.9) | |
| DD150 | Yes | Yes (as of 2.9) | No | No | Yes (as of 2.9) | |
| DO150 | Yes | Yes (as of 2.9) | No | No | Yes (as of 2.9) | |
| Ridgeback | R100 | Yes | Yes (as of 2.9) | No | No | Yes (as of 2.9) |
Proton Requirement
Middleware support other than Fast DDS requires clearpath_firmware version 3.0.0 or later and the Proton MCU protocol. Please ensure your robot's firmware is updated and configured to use the Proton protocol (platform.mcu.protocol: proton) in your robot.yaml configuration file.
Supported Sensors
note
While some sensor drivers may support other sensor models, the table below represents the sensors that have been validated by Clearpath.
note
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 GV7-AHRS | Unsupported | Unsupported | 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 |
| Phidgets IMU | Unsupported | Unsupported | Debian | Debian | Phidgets |
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 M5526-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 |
Supported Manipulators
note
Debian drivers are automatically installed on robots as part of the Clearpath Robot Metapackage.
Arms
| Arm | Humble (amd64) | Humble (arm64) | Jazzy (amd64) | Jazzy (arm64) | Source |
|---|---|---|---|---|---|
| Kinova Gen3 Lite | Debian | Debian | Source | Source | ROS Kortex |
| Kinova Gen3 | Debian | Debian | Source | Source | ROS Kortex |
| Universal Robots UR3, UR3e | Debian | Debian | Debian | Debian | Universal Robots |
| Universal Robots UR5, UR5e | Debian | Debian | Debian | Debian | Universal Robots |
| Universal Robots UR10, UR10e | Debian | Debian | Debian | Debian | Universal Robots |
| Universal Robots UR16e | Debian | Debian | Debian | Debian | Universal Robots |
| Universal Robots UR20 | Debian | Debian | Debian | Debian | Universal Robots |
| Universal Robots UR30 | Debian | Debian | Debian | Debian | Universal Robots |
| Franka Research 3 | Source | Source | Source | Source | Franka |
Grippers
| Gripper | Humble (amd64) | Humble (arm64) | Jazzy (amd64) | Jazzy (arm64) | Source |
|---|---|---|---|---|---|
| Kinova 2F Lite | Debian | Debian | Source | Source | ROS Kortex |
| Robotiq 2F 140 | Debian | Debian | Debian | Debian | Robotiq |
| Robotiq 2F 85 | Debian | Debian | Debian | Debian | Robotiq |
Lifts
| Lift | Humble (amd64) | Humble (arm64) | Jazzy (amd64) | Jazzy (arm64) | Source |
|---|---|---|---|---|---|
| Ewellix Liftkit | Debian | Debian | Debian | Debian | Clearpath |