clearpathrobotics · tonybaltovski · Aug 26, 2025 · Jul 28, 2025 · Aug 14, 2025 · Aug 15, 2025
@@ -0,0 +1,27 @@
+import ComponentButtonStepDownload from "/components/button_download_step.tsx";
+
+### STEP Model {#step-model}
+
+<div>
+  <ComponentButtonStepDownload filePath={"https://cpr-documentation-large-files.s3.us-east-2.amazonaws.com/034991-GEO_1.STEP"}/>
+
+This simplified 3D model of the Husky A200 includes details like the internal
+  battery, circuit board where you can connect to the robot's electrical 
+  provisions, chassis, wheels, and different top attachment structures.
+
+  <center>
+    <figure>
+      <img
+        src="/img/robot_images/husky_images/husky_a200_simplified_step_1.png"
+        width="400"
+      />
+      <img
+        src="/img/robot_images/husky_images/husky_a200_simplified_step_2.png"
+        width="400"
+      />
+      <figcaption>
+        The standard 20 mm X 20 mm aluminum extrusions configuration, and PACS&trade; configuration are shown.
+      </figcaption>
+    </figure>
+  </center>
+</div>
@@ -7,6 +7,7 @@ toc_max_heading_level: 4
 
 import ComponentIntroductionHusky from "/components/introduction_husky.mdx";
 import ComponentCommonSoftwareIntegration from "/components/common_software_integration.mdx";
+import ComponentStepModel from "/components/husky_a200/husky_a200_step_model.mdx";
 import ComponentTableHuskyOne from "/components/table_husky_1.mdx";
 import Support from "/components/support.mdx";
 
@@ -16,11 +17,7 @@ To attach custom hardware to Husky, you will have to take care of mechanical mou
 supply, and software integration. This guide aims to equip you with respect to these challenges.
 
 ## Mechanical Mounting
-
-When determining mechanical mounting, you have two options, both of which are described below.
-
-- the "Standard" aluminum extrusion interface
-- the "PACS&trade;" mounting system and associated kits
+  <ComponentStepModel />
 
 ### Mechanical, Standard
 

@@ -1312,6 +1312,22 @@ $W$ is the effective track of the robot, 0.562 m.
 
 ## Unboxing
 
+<iframe
+  src="https://www.youtube.com/embed/S7tZKQamS0U?si=Nr17hx37GPaNPHcw"
+  title="YouTube video player"
+  style={{
+    display: 'block',
+    margin: '0 auto',
+    width: '100%',
+    maxWidth: '560px',
+    aspectRatio: '16 / 9',
+  }}
+  frameBorder="0"
+  allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share"
+  referrerPolicy="strict-origin-when-cross-origin"
+  allowFullScreen
+/>
+
 <ComponentUnboxingTheHuskyA300 />
 
 ---

@@ -0,0 +1,8 @@
+You may see errors or warnings regarding `High execution jitter` from the `controller_manager` `Hardware Components Activity` or `Controllers Activity`. This is expected and can be ignored.
+
+<center>
+  <figure>
+    <img src={require("./img/jitter_error.png").default} />
+    <figcaption>Jitter Error</figcaption>
+  </figure>
+</center>
@@ -46,7 +46,7 @@ Before using the camera, the computer needs further setup. The setup can be done
 ros2 run spinnaker_camera_driver linux_setup_flir
 ```
 
-Or, manually by following the [instructions on the GitHub README](https://github.com/ros-drivers/flir_camera_driver/blob/humble-devel/spinnaker_camera_driver/docs/linux_setup_flir.md).
+Or, manually by following the [instructions on GitHub](https://github.com/ros-drivers/flir_camera_driver/blob/humble-devel/spinnaker_camera_driver/doc/index.rst#setting-up-linux-without-spinnaker-sdk).
 
 For specifics on the way Clearpath's configuration system launches the camera, see the Flir Blackfly [launch file](https://github.com/clearpathrobotics/clearpath_robot/blob/jazzy/clearpath_sensors/launch/flir_blackfly.launch.py) and the [default parameter file](https://github.com/clearpathrobotics/clearpath_robot/blob/jazzy/clearpath_sensors/config/flir_blackfly.yaml) in `clearpath_sensors`.
 

@@ -77,6 +77,25 @@ import Style from '/assets/css/changelog.css';
     </tbody>
 </table>
 
+## [2.7] 2025-08-25
+
+### New Features
+- Added the 2d lidar to the wireless charger for A300 AMP
+- Added support for additional drivetrain 
+- Added MCU alerts to diagnostics for A300
+- Added monitoring of default sensors
+- Updated Fixposition launch file, parameters to use 8.x driver
+- Added LynxMotorProtection support
+
+### Fixed
+- Fixed adding ur_type parameter to UniversalRobots manipulator
+- Fixed OAK-D Parameters
+- Fixed overwrite defined values with ROS parameters
+- Fixed package capture in diagnostics gathering script
+- Updated republish arguments as parameters for Jazzy
+- Accepted setup path with or without a trailing slash
+- Added explicit gravity & realtime update rate to warehouse world
+
 ## [2.6] 2025-07-04
 
 ### New Features

@@ -4,6 +4,8 @@ sidebar_label: ROS 2 Diagnostics
 sidebar_position: 3
 ---
 
+import JitterError from "/docs_versioned_docs/version-ros2jazzy/components/troubleshooting/_jitter_error.mdx";
+
 The [Cockpit ROS 2 Diagnostics](https://github.com/clearpathrobotics/cockpit-ros2-diagnostics) extension was developed by Clearpath Robotics to add more ROS specific functionality to Cockpit and specifically to help in monitoring and troubleshooting ROS 2 robots.
 
 ## Capture Diagnostics
@@ -22,6 +24,12 @@ Errors are unexpected situations that prevent normal operation of one or more fe
 
 Active errors and warnings are each separated into dedicated tables in order to bring emphasis to what issues need to be addressed on a given robot. Clicking on these errors and warnings opens the diagnostic details in the section below.
 
+:::note
+
+<JitterError />
+
+:::
+
 ## All Diagnostics
 
 This section displays all ROS 2 diagnostics in an expandable table. If a diagnostic is clicked, the diagnostic details are displayed in a drawer, including associated values.

@@ -48,7 +48,7 @@ drivetrain:
   control: omni_4wd
   wheels:
     front: mecanum
-    rear: meceanum
+    rear: mecanum
 ```
   </TabItem>
 <TabItem value="diff_fwd" label="diff_fwd" default>
@@ -96,4 +96,4 @@ Not all configurations are valid. For example, an `omni_4wd` controller must be
 
 Default configurations are noted with square brackets.
 
-:::
+:::
@@ -4,6 +4,8 @@ sidebar_label: Troubleshooting
 sidebar_position: 9
 ---
 
+import JitterError from "/docs_versioned_docs/version-ros2jazzy/components/troubleshooting/_jitter_error.mdx";
+
 The following are common problems our [support team](https://support.clearpathrobotics.com/hc/en-us)
 have received. Before [submitting a request](https://support.clearpathrobotics.com/hc/en-us/requests/new)
 please review the items below to see if they resolve your problem. If your problem is not resolved, download a [diagnostic capture](./cockpit/ros2_diagnostics.mdx#capture-diagnostics) from the [Cockpit webserver](./cockpit/overview.mdx) and attach it to the support request.
@@ -226,3 +228,7 @@ Fast CDR exception deserializing message of type rmw_dds_common::msg::dds_::Part
 ```
 
 It is recommended that all ROS 2 devices on a network use the same ROS 2 distribution and middleware.
+
+## Jitter Warning or Error
+
+<JitterError />
@@ -44,29 +44,30 @@ sudo apt-get install ros-jazzy-teleop-twist-keyboard
 Once installed, run the node:
 
 ```
-ros2 run teleop_twist_keyboard teleop_twist_keyboard
+ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -p stamped:=true
 ```
 
 If your robot uses a namespace, the namespace should be applied to `teleop_twist_keyboard`:
 
 ```
-ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r __ns:=/j100_0001
+ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -p stamped:=true -r __ns:=/j100_0001
 ```
 
 ## Command Velocity
 
 You can manually publish to the `cmd_vel` topic through the command line by calling:
 
 ```
-ros2 topic pub /cmd_vel geometry_msgs/msg/Twist \
-"linear:
-  x: 0.0
-  y: 0.0
-  z: 0.0
-angular:
-  x: 0.0
-  y: 0.0
-  z: 0.0"
+ros2 topic pub /cmd_vel geometry_msgs/msg/TwistStamped \
+"twist:
+  linear:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+  angular:
+    x: 0.0
+    y: 0.0
+    z: 0.0"
 ```
 
 Set the `linear.x` value to drive the robot forwards or backwards, and the `angular.z` value to rotate left or right.
@@ -80,6 +80,7 @@ safety-icon {
 .homepage-robot-header {
   font-size: 1.2em;
   font-weight: bold;
+  margin: 0px 0px 5px;
 }
 
 .table-container-for-centering {

@@ -1,6 +1,5 @@
 import React from "react";
 import Translate, { translate } from "@docusaurus/Translate";
-
 export type FeatureItem = {
   title: string;
   image: {
@@ -10,20 +9,19 @@ export type FeatureItem = {
   };
   text: JSX.Element;
 };
-
 const FEATURES: FeatureItem[] = [
   {
     title: translate({
-      message: "JACKAL",
-      id: "homepage_jackal",
+      message: "WARTHOG",
+      id: "homepage_warthog",
     }),
     image: {
-      src: "/img/website_images/jackal_thumbnail.png",
+      src: "/img/website_images/warthog_thumbnail.png",
       width: 250,
       height: 150,
-      hyperlink: "/docs_robots/outdoor_robots/jackal/user_manual_jackal",
+      hyperlink: "/docs_robots/outdoor_robots/warthog/user_manual_warthog",
     },
-    text: <Translate id="homepage_jackal">Small Outdoor Platform</Translate>,
+    text: <Translate id="homepage_warthog">Large Outdoor Platform</Translate>,
   },
   {
     title: translate({
@@ -40,82 +38,81 @@ const FEATURES: FeatureItem[] = [
   },
   {
     title: translate({
-      message: "HUSKY A200 OBSERVER",
-      id: "homepage_husky_a200_observer",
+      message: "HUSKY A300 AMP",
+      id: "homepage_husky_a300_amp",
     }),
     image: {
-      src: "/img/website_images/husky_a200_observer_thumbnail.png",
-      width: 114,
+      src: "/img/website_images/husky_a300_amp_thumbnail.png",
+      width: 140,
       height: 150,
-      hyperlink: "/docs_robots/legacy/ros1_robots/solutions/husky_a200_observer/user_manual_husky_a200_observer",
+      hyperlink: "/docs_robots/solutions/husky_a300_amp/",
     },
-    text: <Translate id="homepage_husky_a200_observer">Medium Outdoor Solution</Translate>,
+    text: <Translate id="homepage_husky_a300_amp">Medium Outdoor Solution</Translate>,
   },
   {
     title: translate({
-      message: "WARTHOG",
-      id: "homepage_warthog",
+      message: "JACKAL",
+      id: "homepage_jackal",
     }),
     image: {
-      src: "/img/website_images/warthog_thumbnail.png",
+      src: "/img/website_images/jackal_thumbnail.png",
       width: 250,
       height: 150,
-      hyperlink: "/docs_robots/outdoor_robots/warthog/user_manual_warthog",
+      hyperlink: "/docs_robots/outdoor_robots/jackal/user_manual_jackal",
     },
-    text: <Translate id="homepage_warthog">Large Outdoor Platform</Translate>,
+    text: <Translate id="homepage_jackal">Small Outdoor Platform</Translate>,
   },
   {
     title: translate({
-      message: "TURTLEBOT 4",
-      id: "homepage_turtlebot",
+      message: "RIDGEBACK",
+      id: "homepage_ridgeback",
     }),
     image: {
-      src: "/img/website_images/turtlebot_thumbnail.png",
+      src: "/img/website_images/ridgeback_thumbnail.png",
       width: 250,
       height: 150,
-      hyperlink: "/docs_robots/learning_platforms/turtlebot4",
+      hyperlink: "/docs_robots/indoor_robots/ridgeback/user_manual_ridgeback",
     },
-    text: <Translate id="homepage_turtlebot">Classroom Indoor Differential Platform</Translate>,
+    text: <Translate id="homepage_ridgeback">Large Indoor Omnidirectional Platform</Translate>,
   },
   {
     title: translate({
-      message: "DINGO",
-      id: "homepage_dingo",
+      message: "BOXER",
+      id: "homepage_boxer",
     }),
     image: {
-      src: "/img/website_images/dingo_thumbnail.png",
+      src: "/img/website_images/boxer_thumbnail.png",
       width: 250,
       height: 150,
-      hyperlink: "/docs_robots/indoor_robots/dingo/user_manual_dingo",
+      hyperlink: "/docs_robots/indoor_robots/boxer/user_manual_boxer",
     },
-    text: <Translate id="homepage_dingo">Small Indoor Platform, Differential And Omnidirectional Configurations</Translate>,
+    text: <Translate id="homepage_boxer">Medium Indoor Differential Platform</Translate>,
   },
   {
     title: translate({
-      message: "BOXER",
-      id: "homepage_boxer",
+      message: "DINGO",
+      id: "homepage_dingo",
     }),
     image: {
-      src: "/img/website_images/boxer_thumbnail.png",
+      src: "/img/website_images/dingo_thumbnail.png",
       width: 250,
       height: 150,
-      hyperlink: "/docs_robots/indoor_robots/boxer/user_manual_boxer",
+      hyperlink: "/docs_robots/indoor_robots/dingo/user_manual_dingo",
     },
-    text: <Translate id="homepage_boxer">Medium Indoor Differential Platform</Translate>,
+    text: <Translate id="homepage_dingo">Small Indoor Platform, Differential And Omnidirectional Configurations</Translate>,
   },
   {
     title: translate({
-      message: "RIDGEBACK",
-      id: "homepage_ridgeback",
+      message: "TURTLEBOT 4",
+      id: "homepage_turtlebot",
     }),
     image: {
-      src: "/img/website_images/ridgeback_thumbnail.png",
+      src: "/img/website_images/turtlebot_thumbnail.png",
       width: 250,
       height: 150,
-      hyperlink: "/docs_robots/indoor_robots/ridgeback/user_manual_ridgeback",
+      hyperlink: "/docs_robots/learning_platforms/turtlebot4",
     },
-    text: <Translate id="homepage_ridgeback">Large Indoor Omnidirectional Platform</Translate>,
+    text: <Translate id="homepage_turtlebot">Classroom Indoor Differential Platform</Translate>,
   },
 ];
-
-export default FEATURES;
+export default FEATURES;