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Version: ROS 2 Humble

Robot Operating System 2 (ROS 2) Overview

For ROS 2 Humble and beyond, the software structure of Clearpath robots has changed significantly. 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 are moving away from using 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​

PlatformPlatform codeHumble (amd64)Humble (arm64)Jazzy (amd64)Jazzy (arm64)
HuskyA200Yes (as of 0.1)NoYes (as of 2.0)Coming Soon
A300NoNoYes (as of 2.0)Coming Soon
JackalJ100Yes (as of 0.1)NoYes (as of 2.3)Coming Soon
WarthogW200Yes (as of 0.2)NoComing SoonComing Soon
DingoDD100Yes (as of 0.3)NoYes (as of 2.3)Coming Soon
DO100Yes (as of 1.0)NoYes (as of 2.3)Coming Soon
DD150Yes (as of 0.3)NoYes (as of 2.3)Coming Soon
DO150Yes (as of 1.0)NoYes (as of 2.3)Coming Soon
RidgebackR100Yes (as of 0.3)NoYes (as of 2.3)Coming Soon
BoxerB250NoNoNoNo

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​

SensorHumble (amd64)Humble (arm64)Jazzy (amd64)Jazzy (arm64)Source
SICK LMS-111/LMS-151DebianDebianDebianDebianLMS1xx
Hokuyo UST10-LXDebianDebianDebianDebianurg_node
Hokuyo UST20-LXDebianDebianDebianDebianurg_node
Hokuyo UST30-LXDebianDebianDebianDebianurg_node

3D Lidars​

SensorHumble (amd64)Humble (arm64)Jazzy (amd64)Jazzy (arm64)Source
Velodyne PuckDebianDebianDebianDebianVelodyne
Ouster OS-1DebianDebianDebianDebianOuster
Seyond RobinSourceSourceSourceSourceSeyond

IMUs​

SensorHumble (amd64)Humble (arm64)Jazzy (amd64)Jazzy (arm64)Source
MicroStrain 3DM-GX5DebianDebianDebianDebianLORD Inertial
MicroStrain 3DM-GQ7DebianDebianDebianDebianLORD Inertial
Redshift Labs UM7DebianDebianDebianDebianUM7
CH Robotics UM6DebianDebianDebianDebianUM7

GPS​

SensorHumble (amd64)Humble (arm64)Jazzy (amd64)Jazzy (arm64)Source
MicroStrain 3DM-GQ7DebianDebianDebianDebianLORD Inertial
Garmin GPS 18xDebianDebianDebianDebianNMEA Navsat Driver
Swift Navigation DuroSourceSourceSourceSourceDuro GPS Driver
NovAtel SMART6 and SMART7DebianDebianDebianDebianNMEA Navsat Driver

Inertial Navigation Sensors​

SensorHumble (amd64)Humble (arm64)Jazzy (amd64)Jazzy (arm64)Source
Fixposition Vision-RTK 2SourceSourceSourceSourceFixposition Driver

Optical Cameras​

SensorHumble (amd64)Humble (arm64)Jazzy (amd64)Jazzy (arm64)Source
Axis F1035-EDebianDebianDebianDebianaxis_camera
Axis M5525-EDebianDebianDebianDebianaxis_camera
Axis Q6225-LE-EDebianDebianDebianDebianaxis_camera
Flir Blackfly SDebianDebianDebianDebianflir_camera_driver

Depth Cameras​

SensorHumble (amd64)Humble (arm64)Jazzy (amd64)Jazzy (arm64)Source
Intel Realsense D435DebianDebianDebianDebianRealsense
Intel Realsense D435iDebianDebianDebianDebianRealsense
Intel Realsense D415DebianDebianDebianDebianRealsense
Intel Realsense D455DebianDebianDebianDebianRealsense
Intel Realsense D456DebianDebianDebianDebianRealsense
Luxonis OAK-DDebianDebianDebianDebiandepthai-ros
Stereolabs Zed 2SourceSourceSourceSourcezed-ros2-wrapper

Changelog​

[1.3] 2025-04-15​

New Features​

  • Added delay to manipulator controller
  • Added Manipulator URDF Parameters
  • Add UR socat tool communication script
  • Add argument to disable generation in simulation

Fixed​

  • Fixed how NMEA sentences are formed on J100 MCU
  • Do not check battery status on D100 MCU
  • Check init functions for errors on all MCUs
  • Configure MCU service fix for all MCUs

[1.2] 2025-03-12​

New Features​

  • Added more Manipulator samples and poses
  • Added support for link materials
  • Added MoveIt parameters and enable option
  • Added support for Ouster OS1
  • Added Franka Manipulator
  • Added IMU filter to IMU entries

Fixed​

  • Fixed Isolate Universal Robots driver and client library dependencies
  • Fixed dependency on SRDF plugins
  • Changed sensor package location
  • Fixed Puma motor driver data bug and initialization
  • Fixed IMU filter parameters path
  • Fixed handling empty namespace

[1.1] 2025-01-15​

New Features​

  • Added Ewellix Lift
  • Added option to disable EKF
  • Added support for HE2411 and HE2410 batteries

Fixed​

  • Fixed Ridgeback R100 rear light colour

[1.0] 2024-11-27​

New Features​

  • DO100 and DO150 Platform
  • Added support for Ridgeback and Dingo to clearpath_nav2_demos
  • Added support Axis cameras
  • Added pointcloud support to OakD
  • Updated CAN interface for Pumas
  • Updated clearpath_platform_msgs
  • Added clearpath_motor_msgs
  • Removed clearpath_platform and clearpath_hardware_interfaces to clearpath_robot
  • Added vcan service
  • Move battery_state to clearpath_hardware_interfaces
  • Add clearpath_motor_drivers, puma_motor_driver
  • Play simulation automatically

Fixed​

  • Jackal driving performance issues at high speeds
  • Fixed issues with setting Domain ID on MCU robots

[0.3.0] 2024-09-10​

warning

The StopStatus message in clearpath_msgs has an additional field in the 0.3.0 release. This message type is used by the MicroROS enabled, robot MCU; therefore, the firmware must be updated on all robot platforms, except the A200. See, the robot installation section for information on updating the firmware.

New Features​

Changed​

  • StopStatus message added needs_reset parameter for R100 platform.

Fixed​

  • Use StopStatus message to set lighting state
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