clearpathrobotics · rhysfaultless-cpr · Apr 8, 2024 · Feb 26, 2024 · Feb 27, 2024 · Feb 28, 2024
@@ -154,10 +154,12 @@ Next, to start the development of a new version, the latest released version of
 
 For Example, for making a new release after humble, the contents of `docs_versioned_docs/version-ros2humble/` would be copied to `docs/`. This folder will then be built as the "next" version. Once enabled, this version will be available in the version drop down (just like how it is visible for OutdoorNav - http://docs.clearpathrobotics.com/docs_outdoornav_user_manual/next/index).
 
-Enable the visibility of the "next" version by setting 
+Enable the visibility of the "next" version by setting
+
 ```
 includeCurrentVersion: true,
 ```
+
 in `docusaurus.config.js` alongside `id: "docs",`. Ensure to reset this to false before releasing the changes.
 
 Continue through to step 9 of the workflow above to complete the update. Once complete, continue to the release phase.
@@ -198,11 +200,11 @@ includeCurrentVersion: false,
 
 5. Empty the docs folder leaving only the .keep file (such that the folder is still tracked by git).
 
-6.  When ready, publish your branch on GitHub, and submit a Pull Request to merge your changes into the _development_ branch.
-    Be sure to include the updates to the following:
-    - docs_versioned_docs/
-    - docs_versioned_sidebars/
-    - docs_versions.json
+6. When ready, publish your branch on GitHub, and submit a Pull Request to merge your changes into the _development_ branch.
+   Be sure to include the updates to the following:
+   - docs_versioned_docs/
+   - docs_versioned_sidebars/
+   - docs_versions.json
 
 </details>
 
@@ -341,7 +343,7 @@ The list below are not strict rules, but are considered good practice to keep im
 
 ## Links and Imports
 
-All links to, or imports of versioned elements (images, markdown files etc.) must be referred to using relative links (`img/image-name.png` or `../../robots/add-ons/pacs.mdx`), including the file extension. These versioned pages will be moved together and ensures that the correct version is used. Including the file extension ensures that the next page will be located based on the file location not the generated links. This method is much more robust and should be followed whenever possible.
+All links to, or imports of versioned elements (images, markdown files etc.) must be referred to using relative links (`img/image-name.png` or `../../robots/add-ons/pacs.mdx`), including the file extension. These versioned pages will be moved together and ensures that the correct version is used. Including the file extension ensures that the next page will be located based on the file location not the generated links. This method is much more robust and should be followed whenever possible. When using visual studio code, the `Relative Path` extension can make this process easy.
 
 All links to, or imports of unversioned static elements must be referred to using absolute paths (`/static/img/image-name.png`). This allows these assets to be found irrelevant of the location of the particular page. This link should be the path to the file including the file extension, even when it is an md or mdx file.
 

@@ -4,8 +4,6 @@ If you are upgrading your robot from an older version of ROS, please refer to ou
 
 :::
 
-### Getting New Packages
-
 Clearpath Robotics robots are always being improved, both its own software and the many community ROS packages upon which it depends!
 You can use the `apt` package management system to receive new versions all software running on the platform.
 

@@ -5,7 +5,6 @@ sidebar_position: 4
 ---
 
 import ComponentIntroductionBoxer from "/components/introduction_boxer.mdx";
-import GettingNewPackages from "/components/maintenance/getting_new_packages.mdx";
 import Support from "/components/support.mdx";
 
 <ComponentIntroductionBoxer />

@@ -37,6 +37,8 @@ Please contact Clearpath Robotics for additional information about Ridgeback's b
 
 ## Software Maintenance {#software_maintenance}
 
+### Getting New Packages
+
 <GettingNewPackages />
 
 ### MCU Firmware Update

@@ -242,6 +242,8 @@ The [Common Replacement Items](#husky_maintenance_common_replacement_items) sect
 
 ## Software Maintenance {#software_maintenance}
 
+### Getting New Packages
+
 <GettingNewPackages />
 
 ### MCU Firmware Update

@@ -12,6 +12,8 @@ import Support from "/components/support.mdx";
 
 ## Software Maintenance {#software_maintenance}
 
+### Getting New Packages
+
 <GettingNewPackages />
 
 ### MCU Firmware Update

@@ -158,6 +158,8 @@ If your unit came equipped with the tread upgrade, please keep the following con
 
 ## Software Maintenance {#software_maintenance}
 
+### Getting New Packages
+
 <GettingNewPackages />
 
 ### MCU Firmware Update

@@ -232,8 +232,19 @@ the filters on those fans do not require regular maintenance.
 
 ## Software Maintenance {#software_maintenance}
 
+### Getting New Packages
+
 <GettingNewPackages />
 
+:::note
+
+In addition to the core software packages, which can be upgraded through the commands
+noted above, Husky Observer also includes OutdoorNav software, which can be
+upgraded through the commands outlined [here](/docs_outdoornav_user_manual/integration_requirements/software_integration_instructions).
+Contact [Support](#support) if you need more details on updating Husky Observer software.
+
+:::
+
 ### MCU Firmware Update
 
 Customer updates of Husky firmware are not supported at this time. Contact [Support](#support) if

@@ -15,7 +15,7 @@ tray secured to the underside of the lid.
 
 1. The `M_RST` button, used to reset the MCU.
 2. The MCU mode switch. Left is `NORM` or normal mode, right is `ALT` used for flashing the firmware.
-3. The mini-USB port used for transmitting data. This should be connected to Jackal's PC for both normal operation and firmware flashing.
+3. The mini-USB port used for transmitting data. This should be connected to Jackal's computer for both normal operation and firmware flashing.
 
 :::
 

@@ -14,7 +14,7 @@ For a general list of topics and descriptions see the [Clearpath API](../ros/api
 ## Software Setup
 
 - [Robot Software](../ros/installation/robot.mdx)
-- [Remote Computer](../ros/installation/remote_pc.mdx)
+- [Offboard Computer](../ros/installation/offboard_pc.mdx)
 - [PS4 Joystick Controller (if applicable)](../ros/installation/controller.mdx)
 
 ## Using your Robot

@@ -1,6 +1,6 @@
 The `clearpath_computer_setup` package offers a terminal menu tool for configuring a robot computer.
 The main feature of this tool is the ability to generate `netplan` configurations. The `clearpath_computer_setup`
-package is available on the [Clearpath package server](../ros/installation/robot.mdx#clearpath-package-server).
+package is available on the [Clearpath package server](../../ros/installation/robot.mdx#clearpath-package-server).
 
 It should be installed on the robot's computer:
 

@@ -0,0 +1,14 @@
+ROS 2 networking uses an abstracted middleware referred to as the "RMW Implementation". The Clearpath robot packages support
+eProsima Fast DDS as the middleware implementation. This middleware has two supported options for ROS 2 node discovery, Simple
+Discovery and Discovery Server. Each of these discovery mechanisms has their own use case:
+
+**Simple Discovery**
+- Default, does not require manual setup
+- Generally operates on the basis that any ROS 2 devices on the network should be discoverable and connect automatically
+- Requires multicasting on the network (may be restricted on school or corporate networks)
+- Good for simple systems (small number of robots on a dedicated local network)
+
+**Discovery Server**
+- Requires manual configuration in the robot.yaml
+- Generally operates on the basis that ROS 2 networks should be controlled and can only discover other devices as directed
+- Does not require multicasting (more likely to work on school or corporate networks)
@@ -1,5 +1,5 @@
 The default networking configuration for a robot's computer is to bridge all Ethernet interfaces and assign the computer
-the IP address `192.168.131.1`. See [Network IP Addresses](../ros/networking/network_ip_addresses.mdx) for a detailed list of IP ranges.
+the IP address `192.168.131.1`. See [Network IP Addresses](../../ros/networking/network_ip_addresses.mdx) for a detailed list of IP ranges.
 
 To configure the default bridge:
 1. Run `sudo clearpath-computer-setup` 

@@ -10,24 +10,27 @@
 <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
+platform:
+  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>
+
+The bumpers can be extended by setting the `extension` parameter.
@@ -10,15 +10,18 @@
 <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
+platform:
+  attachments:
+    - name: sensor_arch
+      type: a200.sensor_arch
+      model: sensor_arch_300
+      parent: default_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      enabled: true
 ```
 </td>
 </tr>
 </table>
+
+Attach accessories to the sensor arch mount by setting the accessory's `parent` parameter to `arch_sensor_mount`.
@@ -10,15 +10,18 @@
 <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
+platform:
+  attachments:
+    - name: sensor_arch
+      type: a200.sensor_arch
+      model: sensor_arch_510
+      parent: default_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      enabled: true
 ```
 </td>
 </tr>
 </table>
+
+Attach accessories to the sensor arch mount by setting the accessory's `parent` parameter to `arch_sensor_mount`.
@@ -10,15 +10,18 @@
 <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
+platform:
+  attachments:
+    - name: top_plate
+      type: a200.top_plate
+      model: default
+      parent: default_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      enabled: true
 ```
 </td>
 </tr>
 </table>
+
+Attach accessories to the top plate mounts by setting the accessory's `parent` parameter to either `top_plate_rear_mount`, `top_plate_default_mount`, or `top_plate_front_mount`. The mounts are displayed as axes in the image above.
@@ -10,15 +10,18 @@
 <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
+platform:
+  attachments:
+    - name: top_plate
+      type: a200.top_plate
+      model: large
+      parent: default_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      enabled: true
 ```
 </td>
 </tr>
 </table>
+
+Attach accessories to the top plate mounts by setting the accessory's `parent` parameter to either `top_plate_rear_mount`, `top_plate_default_mount`, or `top_plate_front_mount`. The mounts are displayed as axes in the image above.
@@ -10,15 +10,18 @@
 <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
+platform:
+  attachments:
+    - name: top_plate
+      type: a200.top_plate
+      model: pacs
+      parent: default_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      enabled: true
 ```
 </td>
 </tr>
 </table>
+
+Attach accessories to the top plate mounts by setting the accessory's `parent` parameter to one of the grid mounting locations displayed above. The grid mounting locations span from `top_plate_mount_a1` to `top_plate_mount_g8`, where the front left-most location is the `a1` mount and the bottom right-most location is the `g8` mount. The letters correspond to the columns and the number to the rows.
@@ -10,21 +10,22 @@
 <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
+platform:
+  attachments:
+    - name: front_fender
+      type: j100.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: j100.fender
+      model: default
+      parent: base_link
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 3.1415]
+      enabled: true
 ```
 </td>
 </tr>
-Original file line number
+Diff line change
@@ Expand Up @@
     :::
-    ### Getting New Packages
     Clearpath Robotics robots are always being improved, both its own software and the many community ROS packages upon which it depends!
     You can use the `apt` package management system to receive new versions all software running on the platform.
@@ Expand Down @@