Merge pull request #189 from clearpathrobotics/humble-0.2.0

Humble 0.2.0

docs_versioned_docs/version-ros2humble/components/_clearpath_firmware.mdx

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+import Tabs from "@theme/Tabs";
+import TabItem from "@theme/TabItem";
+
+:::caution
+
+Before flashing firmware, place your robot up on blocks. Firmware loading does not usually result in unintended motion, but it is safest when off the ground.
+
+:::
+
+#### 1. Download the Clearpath Firmware package from the Clearpath package server
+
+On the robot computer, run the following commands:
+
+```
+sudo apt-get update
+sudo apt-get install ros-humble-clearpath-firmware
+```
+
+#### 2. Prepare the Robot
+
+:::note
+
+Platforms with an Ethernet connection to the MCU have the option of flashing over USB or Ethernet.
+If you are updating to ROS 2 Humble for the first time, you must use USB. If you are updating ROS 2 Humble firmware
+to a newer version, using Ethernet is recommended. Skip this step if flashing over Ethernet.
+
+:::
+
+<Tabs groupId="platform">
+  <TabItem
+    value="J100"
+    label="J100"
+  >
+
+  The J100 MCU is mounted to the rear inside wall of the robot. To access it, open the lid, keeping the computer
+  tray secured to the underside of the lid.
+
+  <center>
+    <figure>
+      <img
+        src="/img/robot_images/jackal_images/mcu-annotated.jpg"
+        width="800"
+      />
+      <figcaption>J100 MCU</figcaption>
+    </figure>
+  </center>
+
+
+  <figure>
+    <figcaption><b>J100 MCU labels</b></figcaption>
+    <ol>
+      <li>
+      The <code>M_RST</code> button, used to reset the MCU.
+      </li>
+      <li>
+        The <code>PWR_MODE</code> switch. Left is <code>NORM</code> or normal mode, right is <code>ALT</code> or bootloader mode. This is used for flashing the firmware.
+      </li>
+      <li>
+        The mini-USB port used for transmitting data. This should be connected to J100's computer for both normal operation and  firmware flashing.
+      </li>
+    </ol>
+  </figure>
+
+  **Place the J100 MCU into bootloader mode**
+
+  Open the lid of the robot to expose the MCU and make sure the mini-USB cable is connected to the robot computer.
+  Switch the <code>PWR_MODE</code> switch from <code>NORM</code> to <code>ALT</code>. If the robot is on, press the <code>M_RST</code> button. Otherwise, turn the robot on with the power button.
+
+  </TabItem>
+
+  <TabItem
+    value="W200"
+    label="W200"
+    default
+  >
+
+  The W200 MCU is located on the underside of the metal frame over the top of the computer.
+
+  <center>
+    <figure>
+      <img
+        src="/img/robot_images/warthog_images/mcu_buttons.jpg"
+        width="800"
+      />
+      <figcaption>W200 MCU</figcaption>
+    </figure>
+  </center>
+
+
+  <figure>
+    <figcaption><b>W200 MCU labels</b></figcaption>
+    <ul>
+      <li>
+      The <code>RST</code> button, used to reset the MCU.
+      </li>
+      <li>
+        The <code>BT0</code> button, used to enter the USB bootloader mode.
+      </li>
+    </ul>
+  </figure>
+
+  **Place the W200 MCU into bootloader mode**
+
+  While pressing <code>BT0</code> on the MCU, connect the external computer to Warthog's MCU using a USB cable.
+
+  </TabItem>
+</Tabs>
+
+
+#### 3. Flash the firmware
+
+Run the Clearpath firmware flash tool:
+
+```
+source /opt/ros/humble/setup.bash
+ros2 run clearpath_firmware flash
+```
+
+Select your platform, then select which method of flashing you would like to use.
+
+:::caution
+
+Do not turn the robot off or unplug the cable while flashing firmware. If an error occurs while
+flashing, you can attempt to flash again over USB.
+
+:::
+
+#### 4. Place the robot back into normal operating mode
+
+:::note
+
+If you flashed over Ethernet, skip this step.
+
+:::
+
+<Tabs groupId="platform">
+  <TabItem
+    value="J100"
+    label="J100"
+  >
+
+  Switch the <code>PWR_MODE</code> switch from <code>ALT</code> back to <code>NORM</code>. The robot will turn off.
+  Power it back on with the power button.
+
+  </TabItem>
+
+  <TabItem
+    value="W200"
+    label="W200"
+    default
+  >
+
+  Press the <code>RST</code> button. The MCU should enter regular operation.
+
+  </TabItem>
+</Tabs>

docs_versioned_docs/version-ros2humble/components/yaml/attachments/a200/bumper.mdx

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+<table>
+<tr>
+<td>
+<center>
+<figure>
+    <img src={require("./img/bumper.png").default} width="250"/>
+</figure>
+</center>
+</td>
+<td>
+
+```yaml
+attachments:
+  - name: front_bumper
+    type: a200.bumper
+    model: default
+    parent: front_bumper_mount
+    xyz: [0.0, 0.0, 0.0]
+    rpy: [0.0, 0.0, 0.0]
+    enabled: true
+    extension: 0.0
+  - name: rear_bumper
+    type: a200.bumper
+    model: default
+    parent: rear_bumper_mount
+    xyz: [0.0, 0.0, 0.0]
+    rpy: [0.0, 0.0, 0.0]
+    enabled: true
+    extension: 0.0
+```
+</td>
+</tr>
+</table>

docs_versioned_docs/version-ros2humble/components/yaml/attachments/a200/sensor_arch_300.mdx

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+<table>
+<tr>
+<td>
+<center>
+<figure>
+    <img src={require("./img/sensor_arch_300.png").default} width="250"/>
+</figure>
+</center>
+</td>
+<td>
+
+```yaml
+attachments:
+  - name: sensor_arch
+    type: a200.sensor_arch
+    model: sensor_arch_300
+    parent: mid_mount
+    xyz: [0.0, 0.0, 0.0]
+    rpy: [0.0, 0.0, 0.0]
+    enabled: true
+```
+</td>
+</tr>
+</table>

docs_versioned_docs/version-ros2humble/components/yaml/attachments/a200/sensor_arch_510.mdx

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+<table>
+<tr>
+<td>
+<center>
+<figure>
+    <img src={require("./img/sensor_arch_510.png").default} width="250"/>
+</figure>
+</center>
+</td>
+<td>
+
+```yaml
+attachments:
+  - name: sensor_arch
+    type: a200.sensor_arch
+    model: sensor_arch_510
+    parent: mid_mount
+    xyz: [0.0, 0.0, 0.0]
+    rpy: [0.0, 0.0, 0.0]
+    enabled: true
+```
+</td>
+</tr>
+</table>

docs_versioned_docs/version-ros2humble/components/yaml/attachments/a200/top_plate_default.mdx

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+<table>
+<tr>
+<td>
+<center>
+<figure>
+    <img src={require("./img/top_plate_default.png").default} width="250" />
+</figure>
+</center>
+</td>
+<td>
+
+```yaml
+attachments:
+  - name: top_plate
+    type: a200.top_plate
+    model: default
+    parent: mid_mount
+    xyz: [0.0, 0.0, 0.0]
+    rpy: [0.0, 0.0, 0.0]
+    enabled: true
+```
+</td>
+</tr>
+</table>

docs_versioned_docs/version-ros2humble/components/yaml/attachments/a200/top_plate_large.mdx

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+<table>
+<tr>
+<td>
+<center>
+<figure>
+    <img src={require("./img/top_plate_large.png").default} width="250" />
+</figure>
+</center>
+</td>
+<td>
+
+```yaml
+attachments:
+  - name: top_plate
+    type: a200.top_plate
+    model: large
+    parent: mid_mount
+    xyz: [0.0, 0.0, 0.0]
+    rpy: [0.0, 0.0, 0.0]
+    enabled: true
+```
+</td>
+</tr>
+</table>

docs_versioned_docs/version-ros2humble/components/yaml/attachments/a200/top_plate_pacs.mdx

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+<table>
+<tr>
+<td>
+<center>
+<figure>
+    <img src={require("./img/top_plate_pacs.png").default} width="250" />
+</figure>
+</center>
+</td>
+<td>
+
+```yaml
+attachments:
+  - name: top_plate
+    type: a200.top_plate
+    model: pacs
+    parent: mid_mount
+    xyz: [0.0, 0.0, 0.0]
+    rpy: [0.0, 0.0, 0.0]
+    enabled: true
+```
+</td>
+</tr>
+</table>

docs_versioned_docs/version-ros2humble/components/yaml/attachments/j100/fender_default.mdx

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+<table>
+<tr>
+<td>
+<center>
+<figure>
+    <img src={require("./img/fender_default.png").default} width="250" />
+</figure>
+</center>
+</td>
+<td>
+
+```yaml
+attachments:
+  - name: front_fender
+    type: fender
+    model: default
+    parent: base_link
+    xyz: [0.0, 0.0, 0.0]
+    rpy: [0.0, 0.0, 0.0]
+    enabled: true
+  - name: rear_fender
+    type: fender
+    model: default
+    parent: base_link
+    xyz: [0.0, 0.0, 0.0]
+    rpy: [0.0, 0.0, 3.1415]
+    enabled: true
+```
+</td>
+</tr>
+</table>

docs_versioned_docs/version-ros2humble/components/yaml/attachments/j100/fender_sensor.mdx

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+<table>
+<tr>
+<td>
+<center>
+<figure>
+    <img src={require("./img/fender_sensor.png").default} width="250" />
+</figure>
+</center>
+</td>
+<td>
+
+```yaml
+attachments:
+  - name: front_fender
+    type: fender
+    model: sensor
+    parent: base_link
+    xyz: [0.0, 0.0, 0.0]
+    rpy: [0.0, 0.0, 0.0]
+    enabled: true
+  - name: rear_fender
+    type: fender
+    model: sensor
+    parent: base_link
+    xyz: [0.0, 0.0, 0.0]
+    rpy: [0.0, 0.0, 3.1415]
+    enabled: true
+```
+</td>
+</tr>
+</table>