[Clearpath Dingo-D] Humble - Jazzy conflict

General Discussion
1

Hello,
We purchased a Dingo-D with a Jetson Orin. The Orin was installed with Jetpack 6.1 and ROS2 Humble under Ubuntu 22.04. For our internal R&D purposes, we attached a deserializer board to the Orin to control GMSL cameras and upgraded to Jetpack 6.2. So far so good.

When we connected to the robot, we noticed the robot PC was running ROS2 Jazzy under Ubuntu 24.04. The problem is that (inter-distribution) communication between Humble and Jazzy is (reportedly) not supported. During first experiments, we observed the same out-of-memory (OOM) symptoms as described in Running a subscriber on Humble with publishing from Jazzy / Rolling uses up all memory · Issue #797 · ros2/rmw_fastrtps · GitHub. Using rmw_cyclone_cpp as RMW seems to solve the OOM issues, but several topics are not interpreted (correctly).

On the clearpath page it is stated in Nvidia Jetson Installation | Clearpath Robotics Documentation that Humble is no longer actively maintained, on the NVidia page it is mentioned that ROS2 Jazzy cannot be used on Jetsons at this time.

Do you have suggestions on how to proceed ?

2

Hi @mproesma,

The Nvidia Ubuntu 24.04 is expected to come Q1 2026. You have 2 options one is to wait for the Nvidia to upgrade to U24 or second is to downgrade the computer to ROS2 Humble. Even though it is not actively maintained, it should work until 2026.

3

Thanks for the reply.

Unfortunately we can not wait, we purchased the system to do a POC this year. And since the current configuration can not work we have to find alternatives.

Can you guide us through some proper manuals describing what exactly we’ll be needing to re-install? not only with respect to U22/humble, but also Clearpath specfic (or other) installations ? What’s the risk that this could break: e.g.1 should I worry about the communication with the MCU while re-installing ? e.g.2 there is a particular partition structure for which we do not find info… After all, the system was installed with U24/jazzy by mybotshop prior to delivery. It’s unclear for us whether you have dedicated procedures or scripts for this.

Marc

4

The procedure is straightforward. Please follow the instructions in here for ROS2 humble:

Also, recently after you dingo was sent, they added the drivers for Nvidia which you can use as the main mcu for the dingo.

For the main computer, all that needs to be done is flashing the MCU and flashing the SSD with the new ISO image for Dingo. Just make up a backup of your config file /etc/clearpath/robot.yaml for the new image as well as a copy of /opt/mybotshop/ folder if it exists. Incase of any issues please post them here.

5

Hi @Sohail

We went through the installation as you suggested, flashed the robot PC and the MCU according to the documentation. We wanted to test the remote control (logitech console) to see if it still works, but we do not get a proper response. The console input is received by the robot pc (cfr topic /dd100_0030/joy_teleop/cmd_vel), but it only affects the lights (white front / red rear) to intensify, but not the motor/wheels.

Do you have any indication on what could the cause? Is there a troubleshooting procedure to debug ?

m.

6

Yes, this means that the driver is working simply try restart the service and it should work

sudo service clearpath-platform restart
7

Then all four lights turn bright red, no response whatsoever (no light no wheels).
Any possible next steps ?

8

Could you post the output of sudo service clearpath-platform status. As well as of clearpath-robot.

9

This is the clearpath-platform status

clearpath-platform.service - “Clearpath robot sub-service, launch all platform nodes”
Loaded: loaded (/lib/systemd/system/clearpath-platform.service; enabled; vendor preset: enabled)
Active: active (running) since Mon 2025-10-20 12:56:17 UTC; 8min ago
Main PID: 41088 (clearpath-platf)
Tasks: 205 (limit: 18785)
Memory: 290.0M
CPU: 2min 22.863s
CGroup: /system.slice/clearpath-platform.service
├─41088 /bin/bash /usr/sbin/clearpath-platform-start
├─41114 /usr/bin/python3 /opt/ros/humble/bin/ros2 launch /tmp/clearpath-platform.launch.py
├─41117 /opt/ros/humble/lib/robot_state_publisher/robot_state_publisher --ros-args -r __ns:=/dd100_0030 --params-file /tmp/launch_params_uti74ta9 -r /tf:=tf -r /tf>
├─41119 /opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args -r __ns:=/dd100_0030 --params-file /etc/clearpath/platform/config/control.yaml -r joint>
├─41141 /opt/ros/humble/lib/robot_localization/ekf_node --ros-args -r __node:=ekf_node -r __ns:=/dd100_0030 --params-file /etc/clearpath/platform/config/localizati>
├─41149 /opt/ros/humble/lib/interactive_marker_twist_server/marker_server --ros-args -r __node:=twist_server_node -r __ns:=/dd100_0030 --params-file /etc/clearpath>
├─41156 /opt/ros/humble/lib/twist_mux/twist_mux --ros-args -r __ns:=/dd100_0030 --params-file /etc/clearpath/platform/config/twist_mux.yaml --params-file /tmp/laun>
├─41162 /opt/ros/humble/lib/joy_linux/joy_linux_node --ros-args -r __node:=joy_node -r __ns:=/dd100_0030 --params-file /etc/clearpath/platform/config/teleop_joy.ya>
├─41164 /opt/ros/humble/lib/teleop_twist_joy/teleop_node --ros-args -r __node:=teleop_twist_joy_node -r __ns:=/dd100_0030 --params-file /etc/clearpath/platform/con>
├─41180 /opt/ros/humble/lib/diagnostic_aggregator/aggregator_node --ros-args -r __ns:=/dd100_0030 --params-file /opt/ros/humble/share/clearpath_diagnostics/config/>
├─41197 python3 /opt/ros/humble/lib/clearpath_diagnostics/diagnostics_updater -s /etc/clearpath/ --ros-args -r __ns:=/dd100_0030 -r /diagnostics:=diagnostics -r /d>
├─41203 /bin/sh -c “until /usr/sbin/ip link show vcan0 | /usr/bin/grep "state UP"; do sleep 1; done”
├─41212 /bin/sh -c “until /usr/sbin/ip link show vcan0 | /usr/bin/grep "state UP"; do sleep 1; done”
├─41223 /opt/ros/humble/lib/wireless_watcher/wireless_watcher --ros-args -r __node:=wireless_watcher -r __ns:=/dd100_0030 --params-file /tmp/launch_params_3uz_a3av
├─41227 python3 /opt/ros/humble/lib/clearpath_hardware_interfaces/battery_state_control -s /etc/clearpath/ --ros-args -r __node:=battery_state_control -r __ns:=/dd>
├─41231 python3 /opt/ros/humble/lib/clearpath_hardware_interfaces/battery_state_estimator -s /etc/clearpath/ --ros-args -r __node:=battery_state_estimator -r __ns:>
├─41240 /opt/ros/humble/lib/imu_filter_madgwick/imu_filter_madgwick_node --ros-args -r __node:=imu_filter_madgwick -r __ns:=/dd100_0030 --params-file /etc/clearpat>
├─41243 /opt/ros/humble/lib/micro_ros_agent/micro_ros_agent udp4 --port 11411 --ros-args -r __node:=micro_ros_agent -r __ns:=/dd100_0030
├─41253 /opt/ros/humble/lib/clearpath_hardware_interfaces/lighting_node --ros-args -r __node:=lighting_node -r __ns:=/dd100_0030 --params-file /tmp/launch_params_2>
├─41257 /opt/ros/humble/lib/puma_motor_driver/multi_puma_node --ros-args -r __node:=puma_control -r __ns:=/dd100_0030 --params-file /etc/clearpath/platform/config/>
├─41264 /bin/sh -c "export ROS_DOMAIN_ID=0; /opt/ros/humble/bin/ros2 service call platform/mcu/configure clearpath_platform_msgs/srv/ConfigureMcu "{domain_id: 0, >
├─41266 /usr/bin/python3 /opt/ros/humble/bin/ros2 service call platform/mcu/configure clearpath_platform_msgs/srv/ConfigureMcu "{domain_id: 0, robot_namespace: 'dd>
├─46193 sleep 1
└─46194 sleep 1

Oct 20 13:02:48 cpr-dd100-0030 clearpath-platform-start[41114]: [imu_filter_madgwick_node-17] [WARN] [1760965368.756981808] [dd100_0030.imu_filter_madgwick]: Still waiting for >
Oct 20 13:02:58 cpr-dd100-0030 clearpath-platform-start[41114]: [imu_filter_madgwick_node-17] [WARN] [1760965378.756710259] [dd100_0030.imu_filter_madgwick]: Still waiting for >
Oct 20 13:03:08 cpr-dd100-0030 clearpath-platform-start[41114]: [imu_filter_madgwick_node-17] [WARN] [1760965388.756477960] [dd100_0030.imu_filter_madgwick]: Still waiting for >
Oct 20 13:03:18 cpr-dd100-0030 clearpath-platform-start[41114]: [imu_filter_madgwick_node-17] [WARN] [1760965398.756272986] [dd100_0030.imu_filter_madgwick]: Still waiting for >
Oct 20 13:03:28 cpr-dd100-0030 clearpath-platform-start[41114]: [imu_filter_madgwick_node-17] [WARN] [1760965408.756073805] [dd100_0030.imu_filter_madgwick]: Still waiting for >
Oct 20 13:03:38 cpr-dd100-0030 clearpath-platform-start[41114]: [imu_filter_madgwick_node-17] [WARN] [1760965418.755872312] [dd100_0030.imu_filter_madgwick]: Still waiting for >
Oct 20 13:03:48 cpr-dd100-0030 clearpath-platform-start[41114]: [imu_filter_madgwick_node-17] [WARN] [1760965428.755663629] [dd100_0030.imu_filter_madgwick]: Still waiting for >
Oct 20 13:03:58 cpr-dd100-0030 clearpath-platform-start[41114]: [imu_filter_madgwick_node-17] [WARN] [1760965438.755477962] [dd100_0030.imu_filter_madgwick]: Still waiting for >
Oct 20 13:04:08 cpr-dd100-0030 clearpath-platform-start[41114]: [imu_filter_madgwick_node-17] [WARN] [1760965448.755339660] [dd100_0030.imu_filter_madgwick]: Still waiting for >
Oct 20 13:04:18 cpr-dd100-0030 clearpath-platform-start[41114]: [imu_filter_madgwick_node-17] [WARN] [1760965458.755090256] [dd100_0030.imu_filter_madgwick]: Still waiting for >

10

and this is the clearpath-robot status :

clearpath-robot.service - “Clearpath robot main generation and bringup service”
Loaded: loaded (/lib/systemd/system/clearpath-robot.service; enabled; vendor preset: enabled)
Active: active (running) since Mon 2025-10-20 11:42:02 UTC; 1h 25min ago
Main PID: 957 (clearpath-robot)
Tasks: 2 (limit: 18785)
Memory: 90.3M
CPU: 23.170s
CGroup: /system.slice/clearpath-robot.service
├─ 957 /bin/bash /usr/sbin/clearpath-robot-check
└─48335 sleep 1

Oct 20 11:42:01 cpr-dd100-0030 clearpath-robot-generate[954]: Generated config: /etc/clearpath/platform/config/localization.yaml
Oct 20 11:42:01 cpr-dd100-0030 clearpath-robot-generate[954]: Generated config: /etc/clearpath/platform/config/teleop_interactive_markers.yaml
Oct 20 11:42:01 cpr-dd100-0030 clearpath-robot-generate[954]: Generated config: /etc/clearpath/platform/config/teleop_joy.yaml
Oct 20 11:42:01 cpr-dd100-0030 clearpath-robot-generate[954]: Generated config: /etc/clearpath/platform/config/twist_mux.yaml
Oct 20 11:42:01 cpr-dd100-0030 clearpath-robot-generate[954]: Generated config: /etc/clearpath/manipulators/config/moveit.yaml
Oct 20 11:42:01 cpr-dd100-0030 clearpath-robot-generate[954]: Generated config: /etc/clearpath/manipulators/config/control.yaml
Oct 20 11:42:02 cpr-dd100-0030 clearpath-robot-generate[956]: Generated launch file: /etc/clearpath/manipulators/launch/manipulators-service.launch.py
Oct 20 11:42:02 cpr-dd100-0030 clearpath-robot-generate[956]: Generated launch file: /etc/clearpath/sensors/launch/sensors-service.launch.py
Oct 20 11:42:02 cpr-dd100-0030 clearpath-robot-generate[956]: Generated launch file: /etc/clearpath/platform/launch/platform-service.launch.py
Oct 20 11:42:02 cpr-dd100-0030 systemd[1]: Started “Clearpath robot main generation and bringup service”.

11

Both are active, have you released the e-stop for dingo? Could you please press the e-stop again and release it!

12

I push once, Led lights goes off, I push again, green Led goes on, red lights remain lit.

13

There is a topic /service called e-stop. Could you try that?

14

we can’t find a service topic:

here is the topic list. We did check diagnostic at some point…

/dd100_0030/cmd_vel
/dd100_0030/diagnostics
/dd100_0030/diagnostics_agg
/dd100_0030/diagnostics_toplevel_state
/dd100_0030/joint_state_broadcaster/transition_event
/dd100_0030/joy_teleop/cmd_vel
/dd100_0030/joy_teleop/joy
/dd100_0030/joy_teleop/joy/set_feedback
/dd100_0030/platform/bms/state
/dd100_0030/platform/cmd_lights
/dd100_0030/platform/cmd_vel_unstamped
/dd100_0030/platform/dynamic_joint_states
/dd100_0030/platform/emergency_stop
/dd100_0030/platform/joint_states
/dd100_0030/platform/mcu/status
/dd100_0030/platform/mcu/status/power
/dd100_0030/platform/mcu/status/stop
/dd100_0030/platform/odom
/dd100_0030/platform/odom/filtered
/dd100_0030/platform/puma/cmd
/dd100_0030/platform/puma/feedback
/dd100_0030/platform/puma/status
/dd100_0030/platform/wifi_connected
/dd100_0030/platform/wifi_status
/dd100_0030/platform_velocity_controller/transition_event
/dd100_0030/rc_teleop/cmd_vel
/dd100_0030/robot_description
/dd100_0030/sensors/imu_0/data
/dd100_0030/sensors/imu_0/data_raw
/dd100_0030/sensors/imu_0/magnetic_field
/dd100_0030/set_pose
/dd100_0030/tf
/dd100_0030/tf_static
/dd100_0030/twist_marker_server/cmd_vel
/dd100_0030/twist_marker_server/feedback
/dd100_0030/twist_marker_server/update
/dd100_0030/vcan0/rx
/dd100_0030/vcan0/tx
/diagnostics
/parameter_events
/rosout

15

This way the system seems completely stuck. I rebooted in the mean time, same symptoms so far as described above.

16

This topic please echo it

17

This topic does not respond now (i.e after the clearpath-platform restart), but I remember it did respond immediately after reboot. checking…

18

after reboot, it’s repeating:

data: false

19

Ok then thats not the issue then. The services of clearpath-platform and clearpath-robot are green? whe you do sudo service

20

yes, they’re both running, (similar output)