[Quick Guide] Clearpath Husky | Nvidia Jetson AGX Orin | Ouster | Phidgets | ZED2i | Fixposition | Hokuyo | ROS2 Humble

Clearpath Husky | Nvidia Jetson AGX Orin | Ouster | Phidgets | ZED2i | Fixposition | Hokuyo | ROS2 (Humble)

This post is a quick and compact guide for working with Husky (ROS2).

Husky Informative Links

Quick Start

Activate the robot by pressing the power button. The initialization process of the Husky, along with the Ouster, Phidgets IMU, and NVIDIA, may require up to a minute to commence. A green light signals that the MCU (Microcontroller Unit) has successfully initiated, established a connection with the onboard PC, and is ready to receive commands from the onboard PC.

To establish a remote connection to the robot via software, connect an Ethernet cable to the Ethernet port situated on the top of the robot. However, it is necessary to create a static connection on your PC for this purpose. You can accomplish this by following the steps outlined in the topic below.

Husky Static Network Connection

To create a static connection in your PC (not the Husky), in Ubuntu go to Settings → Network then click on + and create a new connection.

  1. The first task is to go to IPv4 and change the connection to manual.

  2. The second task is to put the Address IP as 192.168.131.52 (may differ from robot to robot) and the Netmask as 24.

Click save and restart your network. Next is to open up the Husky as shown, and connect the LAN cable to the robot.

After a successful connection let’s check the host’s local IP by typing in the Host PC’s terminal.

ifconfig

This should show the host IP which was assigned in the above step. Now its time to check if we can ping the robot or not, to do so type in your host pc

ping 192.168.131.1

After a successful ping, it’s time to access the robot. To access the robot you can type the following command:

ssh -X administrator@192.168.131.1

The password is

mybotshop

Once connected, you can SSH into the robot which would provide the information

-------------------------------------------------------------------------------
            .-/+oossssoo+/-.               root@ubuntu
        `:+ssssssssssssssssss+:`           -----------
    -+ssssssssssssssssssyyssss+-         OS: Ubuntu 22.04.6 LTS aarch64
    .ossssssssssssssssssdMMMNysssso.       Host: ITX
/ssssssssssshdmmNNmmyNMMMMhssssss/      Kernel: 5.10.120
+ssssssssshmydMMMMMMMNddddyssssssss+     Uptime: 38 mins
/sssssssshNMMMyhhyyyyhmNMMMNhssssssss/    Packages: 2917 (dpkg)
.ssssssssdMMMNhsssssssssshNMMMdssssssss.   Shell: bash 5.0.17
+sssshhhyNMMNyssssssssssssyNMMMysssssss+   Terminal: run-parts
ossyNMMMNyMMhsssssssssssssshmmmhssssssso   CPU: ARMv8 rev 1 (v8l) (8) @ 1.728GHz
ossyNMMMNyMMhsssssssssssssshmmmhssssssso   Memory: 2354MiB / 62800MiB
+sssshhhyNMMNyssssssssssssyNMMMysssssss+
.ssssssssdMMMNhsssssssssshNMMMdssssssss.
/sssssssshNMMMyhhyyyyhdNMMMNhssssssss/
+sssssssssdmydMMMMMMMMddddyssssssss+
/ssssssssssshdmNNNNmyNMMMMhssssss/
    .ossssssssssssssssssdMMMNysssso.
    -+sssssssssssssssssyyyssss+-
        `:+ssssssssssssssssss+:`
            .-/+oossssoo+/-.

-------------------------------------------------------------------------------

-------------------------------------------------------------------------------
Network Configuration
-------------------------------------------------------------------------------
Interface: lo
IPv4 Address: 127.0.0.1/8
IPv6 Address: ::1/128

Interface: dummy0
IPv4 Address:
IPv6 Address:

Interface: eth0
IPv4 Address: 192.168.131.2/24
IPv6 Address: fe80::344d:5c52:9e25:614c/64

Interface: wlan0
IPv4 Address: 192.168.0.200/24
IPv6 Address: fe80::f742:483:8d7f:d6c0/64

Interface: l4tbr0
IPv4 Address:
IPv6 Address:

Interface: rndis0
IPv4 Address:
IPv6 Address:

Interface: usb0
IPv4 Address:
IPv6 Address:

Interface: docker0
IPv4 Address: 172.17.0.1/16
IPv6 Address:

Internet Status: Connected
DNS Servers: Servers:
192.168.0.1
-------------------------------------------------------------------------------
       _  _  _  _  ____   __  ____  ____  _  _   __  ____                      
      ( \/ )( \/ )(  _ \ /  \(_  _)/ ___)/ )( \ /  \(  _ \                     
      / \/ \ )  /  ) _ ((  O ) )(  \___ \) __ ((  O )) __/                     
      \_)(_/(__/  (____/ \__/ (__) (____/\_)(_/ \__/(__)                       
                                                                               
-------------------------------------------------------------------------------
robot_status
-------------------------------------------------------------------------------
Husky IP:            192.168.131.1                                             
Pswd:                mybotshop                                                 
SSH:                 ssh -XC administrator@192.168.131.1                       
                                                                               
Nvidia IP:           192.168.131.4                                             
Pswd:                mybotshop                                                 
SSH:                 ssh -XC administrator@192.168.131.4                       
                                                                               
Ouster IP:           192.168.131.20                                            
Hokuyo IP:           192.168.131.21                                            
Fixposition IP:      192.168.131.25                                            
-------------------------------------------------------------------------------
Husky Startup                                                                  
-------------------------------------------------------------------------------
Robot start:         sudo service clearpath-robot start                        
Robot stop:          sudo service clearpath-robot stop                         
Robot restart:       sudo service clearpath-robot restart                      
Robot status:        sudo service clearpath-robot status                       
                                                                               
Augments status:     sudo service hsky status                                  
                                                                               
SLAM:                ros2 launch hsky_nav2 slam.launch.py                      
Map Navi:            ros2 launch hsky_nav2 map_navi.launch.py                  
Odom Navi:           ros2 launch hsky_nav2 odom_navi.launch.py                 
Visualization:       ros2 launch hsky_viz view_robot.launch.py                 
                                                                               
Rebuild package:     colcon build --symlink-install                            
-------------------------------------------------------------------------------

Note: in case you cannot ping the husky the ssh client may be missing in your pc. It can be installed via sudo apt-get install openssh-server

Husky Screen Connection

An alternative for connecting to the Husky is by plugging in an HDMI cable as well as a mouse and keyboard.

Husky PC DHCP

The procedure is simply to go to your networks and add your WiFi. Then in the terminal type:

ifconfig

The IP that comes with the initial characters of wl is your WiFi’s IP. e.g. wlps0. With this IP you can SSH to your robot.

ssh -X administrator@192.168.0.228

192.168.0.228 is just an example of this. IP is taken from the ifconfig.

mybotshop

Network

Network configuration for the robot is.

Device Network Password
Main PC 192.168.131.1 mybotshop
Ouster LIDAR 192.168.131.20 -
Hokuyo 192.168.131.21 -
Fixposition 192.168.131.25 -
NVIDIA Orin 192.168.131.4 mybotshop

Husky Software

The drivers configured by MYBOTSHOP for the Husky can be found in the ros2_ws. Within the src folder, the third_party directory includes drivers for the Husky, as well as additional sensors like the Ouster, Hokuyo, Fixposition, and Phidgets IMU.

If you need to configure auxiliary sensors, the provided link offers valuable information, particularly for ROS2 and navigation. As user requirements can vary, the default setup has been maintained, allowing users to specify their parameters within their custom package.

Husky Start-up Job

The start-up job is available for both the main PC and NVIDIA. In the main PC, the startup job launches three main items:

  1. Husky base drivers
  2. Hokuyo Lidar
  3. Ouster Lidar
  4. Fixposition

In the secondary NVIDIA , the startup job launches ZED2i on startup:

-------------------------------------------------------------------------------
            .-/+oossssoo+/-.               root@ubuntu
        `:+ssssssssssssssssss+:`           -----------
    -+ssssssssssssssssssyyssss+-         OS: Ubuntu 22.04.6 LTS aarch64
    .ossssssssssssssssssdMMMNysssso.       Host: Jetson AGX Orin Developer Kit
/ssssssssssshdmmNNmmyNMMMMhssssss/      Kernel: 6.0.120-tegra
+ssssssssshmydMMMMMMMNddddyssssssss+     Uptime: 38 mins
/sssssssshNMMMyhhyyyyhmNMMMNhssssssss/    Packages: 2917 (dpkg)
.ssssssssdMMMNhsssssssssshNMMMdssssssss.   Shell: bash 5.0.17
+sssshhhyNMMNyssssssssssssyNMMMysssssss+   Terminal: run-parts
ossyNMMMNyMMhsssssssssssssshmmmhssssssso   CPU: ARMv8 rev 1 (v8l) (8) @ 1.728GHz
ossyNMMMNyMMhsssssssssssssshmmmhssssssso   Memory: 2354MiB / 62800MiB
+sssshhhyNMMNyssssssssssssyNMMMysssssss+
.ssssssssdMMMNhsssssssssshNMMMdssssssss.
/sssssssshNMMMyhhyyyyhdNMMMNhssssssss/
+sssssssssdmydMMMMMMMMddddyssssssss+
/ssssssssssshdmNNNNmyNMMMMhssssss/
    .ossssssssssssssssssdMMMNysssso.
    -+sssssssssssssssssyyyssss+-
        `:+ssssssssssssssssss+:`
            .-/+oossssoo+/-.

-------------------------------------------------------------------------------

-------------------------------------------------------------------------------
Network Configuration
-------------------------------------------------------------------------------
Interface: lo
IPv4 Address: 127.0.0.1/8
IPv6 Address: ::1/128

Interface: dummy0
IPv4 Address:
IPv6 Address:

Interface: eth0
IPv4 Address: 192.168.131.2/24
IPv6 Address: fe80::344d:5c52:9e25:614c/64

Interface: wlan0
IPv4 Address: 192.168.0.200/24
IPv6 Address: fe80::f742:483:8d7f:d6c0/64

Interface: l4tbr0
IPv4 Address:
IPv6 Address:

Interface: rndis0
IPv4 Address:
IPv6 Address:

Interface: usb0
IPv4 Address:
IPv6 Address:

Interface: docker0
IPv4 Address: 172.17.0.1/16
IPv6 Address:

Internet Status: Connected
DNS Servers: Servers:
192.168.0.1
-------------------------------------------------------------------------------
       _  _  _  _  ____   __  ____  ____  _  _   __  ____                      
      ( \/ )( \/ )(  _ \ /  \(_  _)/ ___)/ )( \ /  \(  _ \                     
      / \/ \ )  /  ) _ ((  O ) )(  \___ \) __ ((  O )) __/                     
      \_)(_/(__/  (____/ \__/ (__) (____/\_)(_/ \__/(__)                       
                                                                               
 -------------------------------------------------------------------------------"
robot_status
 -------------------------------------------------------------------------------"
 "Husky IP:            192.168.131.1                                             "
 "Pswd:                mybotshop                                                 "
 "SSH:                 ssh -X administrator@192.168.131.1                        "
 -------------------------------------------------------------------------------"
Husky Startup                                                                  "
 -------------------------------------------------------------------------------"
 "ROS status:          sudo service ros2 status                                  "
 "ROS start:           sudo service ros2 start                                   "
 "ROS stop:            sudo service ros2 stop                                    "
 "ROS restart:         sudo service ros2 restart                                 "
 "                                                                               "
 "Rebuild package:     colcon build --symlink-install                            "
 -------------------------------------------------------------------------------"

The launch file system.launch.py in the ros2_ws package of hsky_bringupincludes everything that is being launched at the startup. The startup job and its content can be verified in the directory /etc/ros/humble, here the original launch file will be copied.

sudo service clearpath-robot status

Here’s what the different markers signify:

  • Red Marker: Indicates a failed startup job.
  • Green Marker: Indicates normal functioning.
  • Grey Marker: Indicates the service hasn’t started yet.

In case of a red or grey marker, you can attempt to restart the service using:

sudo service clearpath-robot restart

Ouster/Hokuyo

ouster


lidar

The Husky model provided comes equipped with two distinct lidars: the Hokuyo-Ust10 and the Ouster OS1-32, both of which are integrated into the system. To receive data from these lidars, it is necessary to run the corresponding drivers. This can be achieved using the following command:

ros2 launch hsky_lidar system.launch.py

Instructions for use are given in:

Zed2i

adaa61f6abc3cb1b9e2c887919863afd98b94665_2_690x236

For the Zed2i, an onboard Nvidia AGX Orin is installed. The drivers are commonly built and provided in the third_party in the ros_nv_ws. If you have dis-plugged the camera, be sure to re-attach it USB3.0 otherwise it does not detect the camera. Instructions for use are given in:

Fixposition

This Husky also comes with a Fixposition which is used for GPS localization. The topics are starting with ‘/fixposition/’ .

Instructions for use are given in:

Phidgets IMU

The provided Husky has a phidgets IMU integrated into it. The parameters for odometry can be tuned in the folder ros2_ws/src/mybotshop/hsky_control/config/localization.yaml.

It is recommended not to change the parameters without a backup and without expert supervision.

Instructions for use are given in:

Autonomous Navigation

Odom Navigation

To perform odometry based navigation, execute the command:

ros2 launch hsky_nav2 odom_navi.launch.py

This command lets you navigate the robot in the global frame of map

Map Navigation

To initiate map-based navigation, the process involves mapping the environment first, followed by waypoint navigation. Here are the steps to achieve this:

  1. Start creating a map by executing the SLAM navigation command:
ros2 launch hsky_nav2 slam.launch.py
  1. Simultaneously, in a separate terminal, launch the visualization command to observe the map being constructed:
ros2 launch hsky_viz view_robot.launch.py

Utilize the joystick controller to navigate and create the map. Once satisfied with the map, export it using this command in one of the Jackal’s terminals:

ros2 run nav2_map_server map_saver_cli -f /home/administrator/ros2_ws/src/mybotshop/hsky_nav2/maps/custom_map

After saving the map, rebuild the packages to incorporate the new map:

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

Upon successful rebuilding, in one terminal, launch the map navigation command to load the saved map:

ros2 launch hsky_nav2 map_navi.launch.py

Finally, in a separate terminal, execute the visualization command to visualize and control the robot via rviz:

ros2 launch hsky_viz view_robot.launch.py

Parameter Configuration

In the hsky_nav2 package, in the config folder, the parameters can be adjusted for further requirements. What is provided is just a minimal configured setup and it is recommended to adjust the parameters.

Issues

In case of any issues please first try restarting the service of the robot via:

sudo service clearpath-robot restart

Incase of questions please contact support@mybotshop.de. For issues related to the software please attach a ros2 bag e.g.

ros2 bag record -a