clearpathrobotics · civerachb-cpr · Jan 15, 2025 · Jan 15, 2025 · Jan 15, 2025 · Jan 15, 2025
@@ -0,0 +1,36 @@
+<table>
+<tr>
+<td>
+<center>
+<figure>
+    <img src={require("./img/observer_backpack.png").default} width="250"/>
+</figure>
+</center>
+</td>
+<td>
+
+```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
+```
+</td>
+</tr>
+</table>
+
+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
@@ -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 "/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.
@@ -33,6 +34,11 @@ The **large** top plate does not have a user rail and is primarily used to mount
 <A200TopPlateLarge/>
 <br/>
 
+#### 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/).
+<A200ObserverBackpack/>
+<br/>
+
 #### 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.
 <A200TopPlatePACS/>

@@ -32,13 +32,17 @@ 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<br/>S1P4 |
+| `HE2411` | Lithium Ion | 25.3 | 11.6 | S1P3<br/>S1P4 |
+| `HE2410` | Lithium Ion | 25.3 |  9.8 | S1P3<br/>S1P4 |
 
   </TabItem>
   <TabItem value="J100" label="J100">
 
 | 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 |
 
   </TabItem>
   <TabItem value="W200" label="W200">

@@ -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
 ```
@@ -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
+```
@@ -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
 ---

@@ -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:
 
@@ -57,12 +57,20 @@ 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`. |
-| **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:
 
@@ -75,6 +83,17 @@ middleware:
     - hostname: cpr-a200-0000
 ```
 
+Second example, using Zenoh:
+
+```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`).

@@ -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:
 
 ```

@@ -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
+```