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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 codeamd64arm64
HuskyA200Yes (as of 0.1)No
A300NoNo
JackalJ100Yes (as of 0.1)Source
WarthogW200Yes (as of 0.2)No
DingoDD100Yes (as of 0.3)Source
DO100Yes (as of 1.0)Source
DD150Yes (as of 0.3)Source
DO150Yes (as of 1.0)Source
RidgebackR100Yes (as of 0.3)Source
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
HuskyA200YesNoNoNoNo
A300YesNoNoNoNo
JackalJ100YesNoNoNoNo
WarthogW200YesNoNoNoNo
DingoDD100YesNoNoNoNo
DO100YesNoNoNoNo
DD150YesNoNoNoNo
DO150YesNoNoNoNo
RidgebackR100YesNoNoNoNo

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-AHRSUnsupportedUnsupportedLORD Inertial
MicroStrain 3DM-GQ7DebianDebianLORD Inertial
Redshift Labs UM7DebianDebianUM7
CH Robotics UM6DebianDebianUM7
Phidgets IMUUnsupportedUnsupportedPhidgets

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 LiteDebianDebianROS Kortex
Kinova Gen3DebianDebianROS 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 LiteDebianDebianROS Kortex
Robotiq 2F 140DebianDebianRobotiq
Robotiq 2F 85DebianDebianRobotiq

Lifts​

Liftamd64arm64Source
Ewellix LiftkitDebianDebianClearpath
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