we’re looking to integrate several sensors with our Husky [S/N: a200_0930] running on a intel PC with ROS2 Humble and 22.04 Ubuntu as the main robot PC. We are still quite inexperienced as far as this is concerned. The sensors we want to integrate are:
For the Zed2i we use a Nvidia Jetson AGX Orin in addition. The sensors have already been tested with their ROS2 drivers and work independently of the Husky. How would we integrate these sensors correctly into the Husky? Our first attempts to integrate these somehow via the Husky’s robot.yaml were not successful following these instructions here: Cameras | Clearpath Robotics Documentation
The zed2i cam for example is not included in the tf tree of the husky (it should, if working correctly, right?).
Is there possibly another way to do this? Phidget and Bpearl are also not officially supported by Clearpath according to Inertial Measurment Units | Clearpath Robotics Documentation and 3D Lidar | Clearpath Robotics Documentation but it seems that they can still be integrated somehow if you look at the great projects here in the forum!
Any help would be greatly appreciated!
You just need to add a custom URDF to the clearpath → robot.yaml containing the camera and additional sensors. Once done it should be linked.
Yes, you just need to disable the clearpath_control localization file (ekf_localization) and launch a copy with phidgets configuration in your own ros2 launch file.
Assuming we get this to work on the robot PC with the robot.yaml. How does the linking work if we launch our zed_wrapper from the Jetson?
Yes, you just need to disable the clearpath_control localization file (ekf_localization) and launch a copy with phidgets configuration in your own ros2 launch file.
I’m not sure how to do this. How do we disable the clearpath localization file i.e. where to find where it launches?
