From c756df433ccbecfbd085c16a0b4f81d1be664e9d Mon Sep 17 00:00:00 2001 From: Chris Iverach-Brereton Date: Wed, 15 Jan 2025 11:34:50 -0500 Subject: [PATCH 1/9] Add the newly-supported controllers to the yaml docs --- docs/ros/config/yaml/platform/controller.mdx | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/docs/ros/config/yaml/platform/controller.mdx b/docs/ros/config/yaml/platform/controller.mdx index 385be7fa..343e5f11 100644 --- a/docs/ros/config/yaml/platform/controller.mdx +++ b/docs/ros/config/yaml/platform/controller.mdx @@ -6,12 +6,14 @@ toc_min_heading_level: 2 toc_max_heading_level: 5 --- -We support two types of controllers on all platforms: - - **ps4**: standard Playstation4 controller. - - **logitech**: Logitech F710 +We support the following types of controllers on all platforms: + - **ps4**: standard Playstation4 controller (bluetooth). + - **ps5**: standard Playstation5 controller (bluetooth). + - **logitech**: Logitech F710 (USB dongle). + - **xbox**: Xbox controller (bluetooth). Switching between each is done by setting the `controller` parameter under the `platform` tag. ```yaml -controller: ps4 # or logitech +controller: ps4 # one of ps4, ps4, logitech, xbox ``` From ce92afbf0dd9f3f73c2f0a6d503be849a0506611 Mon Sep 17 00:00:00 2001 From: Chris Iverach-Brereton Date: Wed, 15 Jan 2025 11:49:08 -0500 Subject: [PATCH 2/9] Add Zenoh docs to system yaml --- docs/ros/config/yaml/system.mdx | 22 ++++++++++++++++------ 1 file changed, 16 insertions(+), 6 deletions(-) diff --git a/docs/ros/config/yaml/system.mdx b/docs/ros/config/yaml/system.mdx index 87d14823..9f124da7 100644 --- a/docs/ros/config/yaml/system.mdx +++ b/docs/ros/config/yaml/system.mdx @@ -16,7 +16,7 @@ services must be reinstalled as directed in the [software installation instructi The **hosts** section serves as a way to match hostnames to IP addresses. By default, Clearpath robots use the serial number as the hostname and have a default IP of `192.168.131.1`. This section must define ip addresses for all hostnames that appear in -the remainder of the `robot.yaml` file. +the remainder of the `robot.yaml` file. For example: @@ -59,13 +59,12 @@ which implementation and discovery method is right for your project see [network | Key | Value / Datatype | Description | |:---:| :--------------: | ----------- | -| **implementation** | `rmw_fastrtps_cpp` | Declares the RMW Implementation to use. Currently only supports `rmw_fastrtps_cpp`. | -| **discovery** | `simple` or `server` | Select `simple` for simple discovery and `server` for discovery server. (Defaults to `simple`) | -| **profile** | string | Advanced feature, allows an optional custom XML profile to be provided - RMW Implementation / vendor specific. | -| **servers** | list | Provides a list of all discovery servers in the system and whether or not the robot should connect to them. | +| **implementation** | `rmw_fastrtps_cpp` | Declares the RMW Implementation to use. Currently only supports `rmw_fastrtps_cpp` and `rmw_zenoh_cpp`. | +| **discovery** | `simple` or `server` | Select `simple` for simple discovery and `server` for discovery server. (Defaults to `simple`. Ignored if `implementation` is not `rmw_fastrtps_cpp`.) | +| **profile** | string | Advanced feature, allows an optional custom profile to be provided - RMW Implementation / vendor specific. | +| **servers** | list | Provides a list of all discovery servers in the system and whether or not the robot should connect to them. Ignored if `implementation` is not `rmw_fastrtps_cpp`.| For example: - ```yaml middleware: implementation: rmw_fastrtps_cpp @@ -75,6 +74,17 @@ middleware: - hostname: cpr-a200-0000 ``` +Second example, using Zenoh: +```yaml +```yaml +middleware: + implementation: rmw_zenoh_cpp + profile: /path/to/router_configuration.json5 + + servers: # This section is described further below + - hostname: cpr-a200-0000 +``` + #### Servers This section is only used with eProsima Fast DDS Discovery Server (`implementation: rmw_fastrtps_cpp` and `discovery: server`). From 58cd847aa23cbafcfdba197d7b768e954e510b4f Mon Sep 17 00:00:00 2001 From: Chris Iverach-Brereton Date: Wed, 15 Jan 2025 11:56:53 -0500 Subject: [PATCH 3/9] Add basic zenoh docs, re-insert newlines around code blocks --- docs/ros/config/yaml/system.mdx | 3 ++- docs/ros/networking/ros2-networking.mdx | 29 ++++++++++++++++++++++--- 2 files changed, 28 insertions(+), 4 deletions(-) diff --git a/docs/ros/config/yaml/system.mdx b/docs/ros/config/yaml/system.mdx index 9f124da7..3c5a34e4 100644 --- a/docs/ros/config/yaml/system.mdx +++ b/docs/ros/config/yaml/system.mdx @@ -65,6 +65,7 @@ which implementation and discovery method is right for your project see [network | **servers** | list | Provides a list of all discovery servers in the system and whether or not the robot should connect to them. Ignored if `implementation` is not `rmw_fastrtps_cpp`.| For example: + ```yaml middleware: implementation: rmw_fastrtps_cpp @@ -75,7 +76,7 @@ middleware: ``` Second example, using Zenoh: -```yaml + ```yaml middleware: implementation: rmw_zenoh_cpp diff --git a/docs/ros/networking/ros2-networking.mdx b/docs/ros/networking/ros2-networking.mdx index 1ad3286f..d897df46 100644 --- a/docs/ros/networking/ros2-networking.mdx +++ b/docs/ros/networking/ros2-networking.mdx @@ -98,7 +98,7 @@ There are multiple different ways to configure discovery server depending on whi This section will go over some basic configurations and is generalized for use as an introduction. It does not describe all possible configurations. The `ROS_DISCOVERY_SERVER` environment variable, shown in the various diagrams, indicates which discovery servers a given robot is connected to. Additionally, communication will be referred to -in terms of seeing ROS 2 topics although this is representative of all nodes, topics, action servers, and so on. +in terms of seeing ROS 2 topics although this is representative of all nodes, topics, action servers, and so on. :::note @@ -231,12 +231,35 @@ the discovery servers and all of the ones that the offboard computer should be c To generate the launch script: ``` -source /opt/ros/humble/setup.bash +source /opt/ros/jazzy/setup.bash ros2 run clearpath_generator_common generate_discovery_server -s ~/clearpath ``` To launch the server ``` -bash -e ~/clearpath/discovery-server-start +bash -e ~/clearpath/discovery-server-start ``` + + +## Zenoh Router + +In early 2025 a new ROS middleware implementation called **Zenoh** was released. For a +detailed description of Zenoh, please refer to [Zenoh's design document](https://github.com/ros2/rmw_zenoh/blob/rolling/docs/design.md). + +Zenoh is only available on ROS 2 Jazzy and later; it cannot be used on ROS 2 Humble. + +### Starting the Zenoh Router + +To manually launch the Zenoh router run + +```bash +bash -e ~/clearpath/zenoh-router-start +``` + +This process can also be daemonized and launched via the `systemctl` command: + +```bash +source /opt/ros/jazzy/setup.bash +sudo systemctl start clearpath-zenoh-router +``` \ No newline at end of file From de45f49ac5b234c3bb26d419cb60d98a681efb4d Mon Sep 17 00:00:00 2001 From: Chris Iverach-Brereton Date: Wed, 15 Jan 2025 12:07:40 -0500 Subject: [PATCH 4/9] Add a new page for the platform/enable_ekf feature --- docs/ros/config/yaml/platform/ekf.mdx | 25 ++++++++++++++++++++++++ docs/ros/config/yaml/platform/extras.mdx | 2 +- 2 files changed, 26 insertions(+), 1 deletion(-) create mode 100644 docs/ros/config/yaml/platform/ekf.mdx diff --git a/docs/ros/config/yaml/platform/ekf.mdx b/docs/ros/config/yaml/platform/ekf.mdx new file mode 100644 index 00000000..38f6ab11 --- /dev/null +++ b/docs/ros/config/yaml/platform/ekf.mdx @@ -0,0 +1,25 @@ +--- +title: Enable/Disable EKF +sidebar_label: Enable EKF +sidebar_position: 5 +toc_min_heading_level: 2 +toc_max_heading_level: 5 +--- + +import Tabs from "@theme/Tabs"; +import TabItem from "@theme/TabItem"; + +By default, all Clearpath platforms launch an [EKF node](https://index.ros.org/p/robot_localization) +as part of its localization stack. Some applications may want to use their own localization node, +in which case the default EKF node can be disabled. + +| Key | Value / Datatype | Description | +|:---:| :--------------: | ----------- | +| enable_ekf | boolean | Enables or disables the default EKF node. Default: `true` | + +For example, to disable the EKF node: + +```yaml +platform: + enable_ekf: false +``` \ No newline at end of file diff --git a/docs/ros/config/yaml/platform/extras.mdx b/docs/ros/config/yaml/platform/extras.mdx index fe77c3b7..f0f1862e 100644 --- a/docs/ros/config/yaml/platform/extras.mdx +++ b/docs/ros/config/yaml/platform/extras.mdx @@ -1,7 +1,7 @@ --- title: Extras sidebar_label: Extras -sidebar_position: 5 +sidebar_position: 6 toc_min_heading_level: 2 toc_max_heading_level: 5 --- From 7d6f839d69e664538e1c8911ab677ec5f14d7969 Mon Sep 17 00:00:00 2001 From: Chris Iverach-Brereton Date: Wed, 15 Jan 2025 12:10:37 -0500 Subject: [PATCH 5/9] Add HE2411 and HE2410 batteries --- docs/ros/config/yaml/platform/battery.mdx | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/docs/ros/config/yaml/platform/battery.mdx b/docs/ros/config/yaml/platform/battery.mdx index 591fc3fb..8dfe30c0 100644 --- a/docs/ros/config/yaml/platform/battery.mdx +++ b/docs/ros/config/yaml/platform/battery.mdx @@ -32,6 +32,8 @@ For systems without a BMS, the state of charge should be treated as a rough esti |:-:|:-:|:-:|:-:|:-:| | `ES20_12C` | Lead Acid | 12.0 | 20.0 | S2P1 | | `HE2613` | Lithium Ion | 25.9 | 12.8 | S1P3
S1P4 | +| `HE2411` | Lithium Ion | 25.3 | 11.6 | S1P3
S1P4 | +| `HE2410` | Lithium Ion | 25.3 | 9.8 | S1P3
S1P4 | @@ -39,6 +41,8 @@ For systems without a BMS, the state of charge should be treated as a rough esti | Battery | Chemistry | Nominal Voltage (V) | Capacity (Ah) | Configurations | |:-:|:-:|:-:|:-:|:-:| | `HE2613` | Lithium Ion | 25.9 | 12.8 | S1P1 | +| `HE2411` | Lithium Ion | 25.3 | 11.6 | S1P1 | +| `HE2410` | Lithium Ion | 25.3 | 9.8 | S1P1 | From a00c6a0f92252ccef3da59c705d0401ab73f0868 Mon Sep 17 00:00:00 2001 From: Chris Iverach-Brereton Date: Wed, 15 Jan 2025 12:41:32 -0500 Subject: [PATCH 6/9] Add observer backpack attachment --- .../a200/img/observer_backpack.png | Bin 0 -> 89206 bytes .../attachments/a200/observer_backpack.mdx | 36 ++++++++++++++++++ .../config/yaml/platform/attachments/a200.mdx | 6 +++ 3 files changed, 42 insertions(+) create mode 100644 docs/components/yaml/attachments/a200/img/observer_backpack.png create mode 100644 docs/components/yaml/attachments/a200/observer_backpack.mdx diff --git a/docs/components/yaml/attachments/a200/img/observer_backpack.png 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+
+
+ +
+
+
+ +```yaml +platform: + attachments: + - name: observer_backpack + type: a200.observer_backpack + model: observer_backpack + parent: default_mount + xyz: [0.0, 0.0, 0.0] + rpy: [0.0, 0.0, 0.0] + enabled: true +``` +
+ +The `observer_backpack` has the following mounts for attaching sensors, antennas, and other +accessories: +- `${name}_center_mount +- `${name}_center_lidar_mount +- `${name}_front_lidar_mount +- `${name}_rear_lidar_mount +- `${name}_front_realsense_mount +- `${name}_rear_realsense_mount +- `${name}_left_antenna_mount +- `${name}_right_antenna_mount diff --git a/docs/ros/config/yaml/platform/attachments/a200.mdx b/docs/ros/config/yaml/platform/attachments/a200.mdx index a4586041..56f0af08 100644 --- a/docs/ros/config/yaml/platform/attachments/a200.mdx +++ b/docs/ros/config/yaml/platform/attachments/a200.mdx @@ -11,6 +11,7 @@ import A200SensorArch510 from "/docs_versioned_docs/version-ros2humble/component import A200TopPlateDefault from "/docs_versioned_docs/version-ros2humble/components/yaml/attachments/a200/top_plate_default.mdx"; import A200TopPlateLarge from "/docs_versioned_docs/version-ros2humble/components/yaml/attachments/a200/top_plate_large.mdx"; import A200TopPlatePACS from "/docs_versioned_docs/version-ros2humble/components/yaml/attachments/a200/top_plate_pacs.mdx"; +import A200ObserverBackpack from "../../../../../components/yaml/attachments/a200/observer_backpack.mdx"; ## Bumper The A200 can have bumpers of a variable length. By setting the `extension` parameter, the bumper can be extended if required. @@ -33,6 +34,11 @@ The **large** top plate does not have a user rail and is primarily used to mount
+#### Observer Backpack +The Observer backpack is a large enclosure with multiple mounting locations for additional sensors. It is used by the [Husky Observer](https://docs.clearpathrobotics.com/docs/robots/solutions/husky_observer/). + +
+ #### PACS The **pacs** top plate does not have a user rail. It has an opening to access the user bay within the chassis. It comes with the grid of mounting holes of the PACS™ **80mm x 80mm** grid. From a7986b7461de1df25ea939497058168e0138766b Mon Sep 17 00:00:00 2001 From: Chris Iverach-Brereton Date: Wed, 15 Jan 2025 14:41:48 -0500 Subject: [PATCH 7/9] Add a note that Zenoh only works on A200 for now --- docs/ros/config/yaml/system.mdx | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/docs/ros/config/yaml/system.mdx b/docs/ros/config/yaml/system.mdx index 3c5a34e4..79458729 100644 --- a/docs/ros/config/yaml/system.mdx +++ b/docs/ros/config/yaml/system.mdx @@ -57,6 +57,14 @@ ros2: The **middleware** section defines the which RMW Implementation to use and any related settings. To choose which implementation and discovery method is right for your project see [networking](../../networking/ros2-networking.mdx). +:::note + +All platforms can use `rmw_fastrtps_cpp`. + +Currently only the Husky A200 can use `rmw_zenoh_cpp`. Attempting to use Zenoh on any other platform will result in an error when processing `robot.yaml`. + +::: + | Key | Value / Datatype | Description | |:---:| :--------------: | ----------- | | **implementation** | `rmw_fastrtps_cpp` | Declares the RMW Implementation to use. Currently only supports `rmw_fastrtps_cpp` and `rmw_zenoh_cpp`. | From 02d307f57057f582024179c61b56a276adf23235 Mon Sep 17 00:00:00 2001 From: Chris Iverach-Brereton Date: Thu, 16 Jan 2025 11:15:32 -0500 Subject: [PATCH 8/9] Hopefully fix path to A200 observer backpack --- docs/ros/config/yaml/platform/attachments/a200.mdx | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/ros/config/yaml/platform/attachments/a200.mdx b/docs/ros/config/yaml/platform/attachments/a200.mdx index 56f0af08..05e27c9c 100644 --- a/docs/ros/config/yaml/platform/attachments/a200.mdx +++ b/docs/ros/config/yaml/platform/attachments/a200.mdx @@ -11,7 +11,7 @@ import A200SensorArch510 from "/docs_versioned_docs/version-ros2humble/component import A200TopPlateDefault from "/docs_versioned_docs/version-ros2humble/components/yaml/attachments/a200/top_plate_default.mdx"; import A200TopPlateLarge from "/docs_versioned_docs/version-ros2humble/components/yaml/attachments/a200/top_plate_large.mdx"; import A200TopPlatePACS from "/docs_versioned_docs/version-ros2humble/components/yaml/attachments/a200/top_plate_pacs.mdx"; -import A200ObserverBackpack from "../../../../../components/yaml/attachments/a200/observer_backpack.mdx"; +import A200ObserverBackpack from "/docs/components/yaml/attachments/a200/observer_backpack.mdx"; ## Bumper The A200 can have bumpers of a variable length. By setting the `extension` parameter, the bumper can be extended if required. From 9d859017b28f8457ff1177c56f13cc72b23ef8e2 Mon Sep 17 00:00:00 2001 From: Chris Iverach-Brereton Date: Fri, 17 Jan 2025 14:58:06 -0500 Subject: [PATCH 9/9] Remove ds4drv instructions; this package is no longer used in Jazzy --- docs/ros/installation/controller.mdx | 18 ------------------ 1 file changed, 18 deletions(-) diff --git a/docs/ros/installation/controller.mdx b/docs/ros/installation/controller.mdx index 685e99e6..3a9795bc 100644 --- a/docs/ros/installation/controller.mdx +++ b/docs/ros/installation/controller.mdx @@ -20,24 +20,6 @@ If your robot comes with a PS4 controller, it will be paired already. Simply tur To re-pair the PS4 controller or pair a new PS4 controller: -1. Install the python3-ds4drv package if it is not installed already. In terminal, run: - -``` -sudo apt-get install python3-ds4drv -``` - -2. Put the controller in pairing mode. Press and hold the PS and Share buttons on your controller until - the LED begins rapidly flashing white. -3. Run the `ds4drv-pair` script to pair the controller to the computer. In terminal, run: - -``` -sudo ds4drv-pair -``` - -This script will scan for nearby Bluetooth devices, and pair automatically to the controller. - -Alternatively, if ds4drv-pair fails to detect the controller, you can pair the controller using `bluetoothctl`: - 1. Install the `bluez` package if it is not installed already. In terminal, run: ```