The Husky A300 ships with ROS 2 Jazzy pre-installed and configured on Ubuntu 24.04.

Note

ROS 2 Humble is not supported on the Husky A300. The Humble tabs are included for reference only.

For detailed ROS 2 documentation, refer to the Clearpath ROS 2 Documentation.

Pre-requisites

• Safety Guidelines Robotic Manipulator Safety.

• Power On Power On.

• Network Interface Network Interface.

• Installation Robot Installation.

Installation

Jazzy

Husky A300 Custom Integration

Installation on Robot

The Husky A300 comes with ROS 2 Jazzy pre-installed on Ubuntu 24.04. If you need to reinstall or update:

sudo apt-get update
sudo apt-get install --reinstall ros-jazzy-clearpath-robot

Verify that udev rules are installed:

ls /usr/lib/udev/rules.d/60-ros-jazzy-clearpath-robot.rules

Installation on External PC

To set up a remote workstation for development and monitoring:

1. Install Ubuntu 24.04 on your workstation

2. Install ROS 2 Jazzy following the official instructions:

   sudo apt install software-properties-common
   sudo add-apt-repository universe
   sudo apt update && sudo apt install curl -y
   sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
   echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
   sudo apt update
   sudo apt install ros-jazzy-desktop
   

3. Install Clearpath packages:

   sudo apt-get update
   sudo apt-get install ros-jazzy-clearpath-desktop
   

4. Configure ROS 2 environment:

   echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
   source ~/.bashrc
   export ROS_DOMAIN_ID=0
   export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
   

5. Install CycloneDDS (recommended for Clearpath robots):

   sudo apt install ros-jazzy-rmw-cyclonedds-cpp
   

Humble

Warning

ROS 2 Humble is not supported on the Husky A300. The A300 ships with ROS 2 Jazzy on Ubuntu 24.04.

Please refer to the Jazzy tab for installation instructions.

Autostart

Jazzy

Autostart Configuration

Husky A300 System Services

The Husky A300 uses systemd services to automatically start ROS 2 nodes on boot.

Check Service Status:

sudo systemctl status clearpath-robot.service

Or via the web interface:

sudo service clearpath-platform status
sudo service hsky-webserver status

Restart Service:

sudo systemctl restart clearpath-robot.service

View Service Logs:

journalctl -u clearpath-robot.service -f

Service Status Indicators

• Green - Service running correctly

• Red - Startup job failed

• Grey - Service not started

Robot YAML Configuration

In ROS 2 Jazzy, the robot is configured via a YAML file instead of environment variables.

Location: /etc/clearpath/robot.yaml

Example Configuration:

system:
  ros2:
    namespace: ""
    domain_id: 0
    rmw_implementation: rmw_cyclonedds_cpp
platform:
  model: a300
  serial_number: A300-XXXX
extras:
  ros2:
    - package: my_custom_package
      launch_file: my_launch.py

Apply Configuration Changes:

After modifying robot.yaml, restart the service:

sudo systemctl restart clearpath-robot.service

MYBOTSHOP Autostart

For MYBOTSHOP custom integrations, autostart is managed via:

ros2 run hsky_autostart startup_installer.py

The startup configuration is defined in hsky_autostart/startup_installer.py.

For detailed configuration options, refer to the Clearpath Configuration Documentation.

Humble

Warning

ROS 2 Humble is not supported on the Husky A300. The A300 ships with ROS 2 Jazzy on Ubuntu 24.04.

Please refer to the Jazzy tab for autostart configuration.

Webserver

Jazzy

Robot Web Interface

Husky A300 Web Dashboard

The Husky A300 includes a web-based interface for monitoring and basic control.

Accessing the Web Interface:

1. Connect to the robot’s network

2. Open a web browser

3. Navigate to: http://192.168.131.1:9000/

Default Credentials:

• Username: admin

• Password: mybotshop

Login

Webserver Login

Dashboard

Webserver Dashboard

The dashboard provides:

• View IP Address of the Husky A300

• View system load and status

Console

Webserver Console

From the Console you can:

• Enable/Disable Husky A300 ROS 2 services

• Record system logs

• Monitor battery status

• Use pre-configured action buttons

• Use the web joystick

• View online image streams

Remote Desktop

Husky A300 Remote Desktop (VNC)

Provides access to the on-board screen of the Husky A300’s computer.

Indoor Navigation

Indoor Navigation Interface

Outdoor Navigation

Outdoor Navigation Interface

ROS 2 Web Bridge

For advanced web-based ROS 2 interaction using rosbridge:

sudo apt-get install ros-jazzy-rosbridge-server
ros2 launch rosbridge_server rosbridge_websocket_launch.xml

This enables WebSocket-based communication with ROS 2 topics and services.

Foxglove WebSocket

For modern web visualization, use Foxglove Bridge:

sudo apt install ros-jazzy-foxglove-bridge
ros2 launch foxglove_bridge foxglove_bridge_launch.xml

Connect using Foxglove Studio for real-time visualization and debugging.

Humble

Warning

ROS 2 Humble is not supported on the Husky A300. The A300 ships with ROS 2 Jazzy on Ubuntu 24.04.

Please refer to the Jazzy tab for webserver information.

Teleoperation

Jazzy

Joystick Teleoperation

The Husky A300 supports teleoperation via a paired PlayStation-style controller.

Controller Mapping:

• PS Button: Connect controller to robot

• L1 (Hold): Slow mode - max 0.3 m/s

• R1 (Hold): Fast mode - max 2.0 m/s

• Left Thumbstick: Movement control

Keyboard Teleoperation

For keyboard control from a connected workstation:

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=/cmd_vel

Keyboard Controls:

• i: Forward

• k: Stop

• j: Turn left

• l: Turn right

• ,: Backward

• u: Forward-left curve

• o: Forward-right curve

Custom Velocity Commands

To send velocity commands programmatically:

ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.5}, angular: {z: 0.0}}"

Teleoperation via RQT

For a graphical teleoperation interface:

ros2 run rqt_robot_steering rqt_robot_steering --ros-args -r cmd_vel:=/cmd_vel

Humble

Warning

ROS 2 Humble is not supported on the Husky A300. The A300 ships with ROS 2 Jazzy on Ubuntu 24.04.

Please refer to the Jazzy tab for teleoperation instructions.

Visualization

Jazzy

RViz2 Visualization

Husky A300 RViz2 Visualization

To visualize the robot state and sensor data:

ros2 launch husky_a300_viz view_robot.launch.py

Or using Clearpath packages:

ros2 launch clearpath_viz view_robot.launch.py

This launches RViz2 with a pre-configured layout showing:

• Robot model

• TF frames

• Sensor data (if available)

• Odometry

Custom RViz Configuration

To save your custom RViz configuration:

1. Configure RViz displays as desired

2. File > Save Config As > /path/to/my_config.rviz

To load a custom configuration:

ros2 launch clearpath_viz view_robot.launch.py rviz_config:=/path/to/my_config.rviz

Foxglove Studio

For an alternative web-based visualization:

1. Install Foxglove Bridge:

   sudo apt install ros-jazzy-foxglove-bridge
   

2. Launch the bridge:

   ros2 launch foxglove_bridge foxglove_bridge_launch.xml
   

3. Open Foxglove Studio and connect to your robot’s IP address.

Viewing TF Frames

To visualize the transform tree:

ros2 run tf2_tools view_frames

This generates a PDF showing the complete TF tree structure.

Humble

Warning

ROS 2 Humble is not supported on the Husky A300. The A300 ships with ROS 2 Jazzy on Ubuntu 24.04.

Please refer to the Jazzy tab for visualization instructions.

Navigation

Jazzy

Simultaneous Localization and Mapping (SLAM)

To create a map of the environment using SLAM Toolbox:

ros2 launch clearpath_nav2_demos slam.launch.py

Drive the robot around using teleoperation to build the map. Save the map when complete:

ros2 run nav2_map_server map_saver_cli -f ~/maps/my_map

Odometry Navigation

For navigation without a pre-built map (odometry-based):

ros2 launch clearpath_nav2_demos nav2.launch.py use_sim_time:=false

Map Navigation

For navigation with a pre-built map:

ros2 launch clearpath_nav2_demos nav2.launch.py map:=/path/to/map.yaml

Use RViz to:

1. Set the initial pose with “2D Pose Estimate”

2. Set navigation goals with “2D Goal Pose”

GPS Navigation

For outdoor GPS-based navigation:

ros2 launch clearpath_nav2_demos gps_nav.launch.py

Requires a configured GPS receiver on the robot.

Nav2 Parameters

Navigation parameters can be customized in the nav2_params.yaml file. Key parameters include:

• controller_frequency: Control loop rate

• goal_tolerance: Position tolerance for goal reaching

• max_vel_x: Maximum linear velocity

• max_vel_theta: Maximum angular velocity

Humble

Warning

ROS 2 Humble is not supported on the Husky A300. The A300 ships with ROS 2 Jazzy on Ubuntu 24.04.

Please refer to the Jazzy tab for navigation instructions.

Sensors

Jazzy

Default Sensors

The Husky A300 includes the following built-in sensors:

• IMU: Inertial Measurement Unit for orientation and acceleration data

• Wheel Encoders: For odometry calculation

IMU Data:

ros2 topic echo /imu/data

Odometry:

ros2 topic echo /odometry/filtered

Depth Cameras

Supported depth cameras include Intel RealSense and ZED series.

Example: Adding a RealSense D435 to robot.yaml:

sensors:
  cameras:
    - model: intel_realsense
      urdf_enabled: true
      launch_enabled: true
      parent: top_plate_link
      xyz: [0.15, 0.0, 0.1]
      rpy: [0.0, 0.0, 0.0]

Lidars

Supported LiDAR sensors include Velodyne, Ouster, and SICK series.

Example: Adding a Velodyne VLP-16 to robot.yaml:

sensors:
  lidar3d:
    - model: velodyne_vlp16
      urdf_enabled: true
      launch_enabled: true
      parent: top_plate_link
      xyz: [0.0, 0.0, 0.2]
      rpy: [0.0, 0.0, 0.0]

GPS

GPS receivers can be added for outdoor navigation.

Example: Adding a GPS receiver to robot.yaml:

sensors:
  gps:
    - model: nmea_gps
      urdf_enabled: true
      launch_enabled: true
      parent: top_plate_link
      xyz: [0.0, 0.0, 0.3]

Auxiliary Sensors

Additional sensors and accessories can be configured through the robot.yaml file. Refer to the Clearpath Integration Guide for detailed sensor integration instructions.

Humble

Warning

ROS 2 Humble is not supported on the Husky A300. The A300 ships with ROS 2 Jazzy on Ubuntu 24.04.

Please refer to the Jazzy tab for sensor information.

Simulation

Jazzy

Gazebo Harmonic Simulation

The Husky A300 can be simulated in Gazebo Harmonic with ROS 2 Jazzy.

Prerequisites:

Set up your simulation workspace:

mkdir -p ~/clearpath_sim_ws/src
cd ~/clearpath_sim_ws/src
git clone https://github.com/clearpathrobotics/clearpath_simulator.git
vcs import . < clearpath_simulator/clearpath_sim.repos --recursive

Install Dependencies:

cd ~/clearpath_sim_ws
rosdep install -r --from-paths src --rosdistro jazzy -i -y
sudo apt install ros-jazzy-rmw-cyclonedds-cpp

Build the Workspace:

colcon build --symlink-install
source install/setup.bash

Launch Simulation:

ros2 launch clearpath_gz simulation.launch.py

Robot Configuration for Simulation

Create a robot.yaml file to customize your simulated robot:

system:
  ros2:
    namespace: a300
    domain_id: 0
platform:
  model: a300

Isaac Sim

NVIDIA Isaac Sim support is available for advanced simulation scenarios. Refer to the Clearpath Isaac Sim Documentation for setup instructions.

Humble

Warning

ROS 2 Humble is not supported on the Husky A300. The A300 ships with ROS 2 Jazzy on Ubuntu 24.04.

Please refer to the Jazzy tab for simulation instructions.

Packages

Jazzy

Robot Description

The clearpath_description package contains URDF models for the Husky A300.

ros2 launch clearpath_viz view_model.launch.py

In ROS 2 Jazzy, robot configuration uses a YAML file (robot.yaml) instead of environment variables.

Twist Mux

The twist_mux package manages multiple velocity input sources with priority handling.

Topics are prioritized in the following order (highest to lowest):

1. Emergency stop commands

2. Joystick teleoperation

3. Navigation commands

4. External commands

EKF Localization

The robot_localization package provides Extended Kalman Filter (EKF) based localization, fusing wheel odometry with IMU data.

To view the current odometry:

ros2 topic echo /odometry/filtered

Clearpath Common Packages

In ROS 2 Jazzy, Clearpath uses common packages across all supported platforms:

• clearpath_common - Shared configurations and utilities

• clearpath_config - Robot YAML configuration handling

• clearpath_description - Robot URDF models

• clearpath_generator - Configuration file generators

• clearpath_msgs - Custom message definitions

• clearpath_platform - Platform-specific drivers

Humble

Warning

ROS 2 Humble is not supported on the Husky A300. The A300 ships with ROS 2 Jazzy on Ubuntu 24.04.

Please refer to the Jazzy tab for package information.

Debugging

Jazzy

Common Debugging Commands

List Active Topics:

ros2 topic list

Check Topic Publishing Rate:

ros2 topic hz /odometry/filtered

View Node Information:

ros2 node list
ros2 node info /robot_state_publisher

Check TF Tree:

ros2 run tf2_tools view_frames

This generates a PDF showing the TF tree structure.

Diagnostic Tools

System Diagnostics:

ros2 topic echo /diagnostics

Hardware Status:

ros2 topic echo /platform/mcu/status

RQT Robot Monitor:

ros2 run rqt_robot_monitor rqt_robot_monitor

Log Files

System logs are stored in:

• /var/log/syslog - System messages

• ~/.ros/log/ - ROS 2 log files

To view real-time ROS 2 logs:

ros2 run rqt_console rqt_console

Reinstalling Packages

If packages become corrupted:

sudo apt-get update
sudo apt-get install --reinstall ros-jazzy-clearpath-robot

Checking Configuration

Verify your robot.yaml is valid:

ros2 run clearpath_config check_config /etc/clearpath/robot.yaml

Humble

Warning

ROS 2 Humble is not supported on the Husky A300. The A300 ships with ROS 2 Jazzy on Ubuntu 24.04.

Please refer to the Jazzy tab for debugging information.

Miscellanious

Jazzy

Backing Up Robot Configuration

Before making changes, back up your robot configuration:

git clone https://github.com/clearpathrobotics/robot-backup
cd robot-backup
./backup.sh

Keep a copy of your robot.yaml file for use when upgrading or restoring.

Upgrading from Humble to Jazzy

If upgrading from ROS 2 Humble:

1. Back up your robot.yaml configuration

2. Follow the Clearpath Upgrade Guide

3. Restore your robot.yaml after upgrade

Updating Packages

To update all Clearpath packages:

sudo apt-get update
sudo apt-get upgrade ros-jazzy-clearpath-*

Network Configuration

Check Network Status:

ip addr
nmcli device status

Configure Static IP with Netplan:

Edit netplan configuration:

sudo nano /etc/netplan/01-network-config.yaml

Example configuration:

network:
  version: 2
  ethernets:
    eth0:
      addresses:
        - 192.168.131.1/24

Apply changes:

sudo netplan apply

Time Synchronization

Ensure time is synchronized for proper TF operation:

timedatectl status
sudo systemctl enable systemd-timesyncd
sudo systemctl start systemd-timesyncd

CycloneDDS Configuration

For multi-robot setups or complex networks, configure CycloneDDS:

Create /etc/cyclonedds/cyclonedds.xml:

<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS>
  <Domain>
    <Id>0</Id>
  </Domain>
</CycloneDDS>

Export the configuration:

export CYCLONEDDS_URI=/etc/cyclonedds/cyclonedds.xml

Humble

Warning

ROS 2 Humble is not supported on the Husky A300. The A300 ships with ROS 2 Jazzy on Ubuntu 24.04.

Please refer to the Jazzy tab for additional information.