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Version: ROS 2 Jazzy

Supported Components

This page lists the current support state for active ROS 2 distributions.

Supported Platforms​

PlatformPlatform codeamd64arm64
HuskyA200Yes (as of 2.0)Coming Soon
A300Yes (as of 2.0)Coming Soon
JackalJ100Yes (as of 2.3)Coming Soon
WarthogW200Yes (as of 2.6)Coming Soon
DingoDD100Yes (as of 2.3)Coming Soon
DO100Yes (as of 2.3)Coming Soon
DD150Yes (as of 2.3)Coming Soon
DO150Yes (as of 2.3)Coming Soon
RidgebackR100Yes (as of 2.3)Coming Soon
BoxerB250NoNo

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.

PlatformPlatform codeFast DDSCycloneDDSZenohConnext DDSGurumDDS
HuskyA200YesYesYesNoNo
A300YesYes (as of 2.9)Yes (as of 2.9)NoNo
JackalJ100YesYes (as of 2.9)Yes (as of 2.9)NoNo
WarthogW200YesYes (as of 2.9)Yes (as of 2.9)NoNo
DingoDD100YesYes (as of 2.9)Yes (as of 2.9)NoNo
DO100YesYes (as of 2.9)Yes (as of 2.9)NoNo
DD150YesYes (as of 2.9)Yes (as of 2.9)NoNo
DO150YesYes (as of 2.9)Yes (as of 2.9)NoNo
RidgebackR100YesYes (as of 2.9)Yes (as of 2.9)NoNo
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​

Sensoramd64arm64Source
SICK LMS-111/LMS-151DebianDebianLMS1xx
Hokuyo UST10-LXDebianDebianurg_node
Hokuyo UST20-LXDebianDebianurg_node
Hokuyo UST30-LXDebianDebianurg_node

3D Lidars​

Sensoramd64arm64Source
Velodyne PuckDebianDebianVelodyne
Ouster OS-1DebianDebianOuster
Seyond RobinSourceSourceSeyond

IMUs​

Sensoramd64arm64Source
MicroStrain 3DM-GX5DebianDebianLORD Inertial
MicroStrain GV7-AHRSDebianDebianLORD Inertial
MicroStrain 3DM-GQ7DebianDebianLORD Inertial
Redshift Labs UM7DebianDebianUM7
CH Robotics UM6DebianDebianUM7
Phidgets IMUDebianDebianPhidgets

GPS​

Sensoramd64arm64Source
MicroStrain 3DM-GQ7DebianDebianLORD Inertial
Garmin GPS 18xDebianDebianNMEA Navsat Driver
Swift Navigation DuroSourceSourceDuro GPS Driver
NovAtel SMART6 and SMART7DebianDebianNMEA Navsat Driver

Inertial Navigation Sensors​

Sensoramd64arm64Source
Fixposition Vision-RTK 2SourceSourceFixposition Driver

Optical Cameras​

Sensoramd64arm64Source
Axis F1035-EDebianDebianaxis_camera
Axis M5525-EDebianDebianaxis_camera
Axis M5526-EDebianDebianaxis_camera
Axis Q6225-LE-EDebianDebianaxis_camera
Flir Blackfly SDebianDebianflir_camera_driver

Depth Cameras​

Sensoramd64arm64Source
Intel Realsense D435DebianDebianRealsense
Intel Realsense D435iDebianDebianRealsense
Intel Realsense D415DebianDebianRealsense
Intel Realsense D455DebianDebianRealsense
Intel Realsense D456DebianDebianRealsense
Luxonis OAK-DDebianDebiandepthai-ros
Stereolabs Zed 2SourceSourcezed-ros2-wrapper

Supported Manipulators​

note

Debian drivers are automatically installed on robots as part of the Clearpath Robot Metapackage.

Arms​

Armamd64arm64Source
Kinova Gen3 LiteSourceSourceROS Kortex
Kinova Gen3SourceSourceROS Kortex
Universal Robots UR3, UR3eDebianDebianUniversal Robots
Universal Robots UR5, UR5eDebianDebianUniversal Robots
Universal Robots UR10, UR10eDebianDebianUniversal Robots
Universal Robots UR16eDebianDebianUniversal Robots
Universal Robots UR20DebianDebianUniversal Robots
Universal Robots UR30DebianDebianUniversal Robots
Franka Research 3SourceSourceFranka

Grippers​

Gripperamd64arm64Source
Kinova 2F LiteSourceSourceROS Kortex
Robotiq 2F 140DebianDebianRobotiq
Robotiq 2F 85DebianDebianRobotiq

Lifts​

Liftamd64arm64Source
Ewellix LiftkitDebianDebianClearpath
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