clearpathrobotics · jhiggins-cpr · Apr 5, 2025 · Mar 1, 2025 · Mar 2, 2025 · Mar 2, 2025
@@ -1,2 +1,2 @@
 # Default all changes will request review from:
-* @rhysfaultless-cpr @jhiggins-cpr @tonybaltovski
+* @rhysfaultless-cpr @jhiggins-cpr @tonybaltovski @hilary-luo
@@ -9,22 +9,22 @@ These tutorials assume that you are comfortable working with [ROS](https://docs.
 
 You can view all topics that are active using `ros2 topic list`.
 
-For a general list of topics and descriptions see the [Clearpath API](../ros/api/platform_api.mdx)
+For a general list of topics and descriptions see the [Clearpath API](/docs/ros/api/platform_api)
 
 ## Software Setup
 
-- [Robot Software](../ros/installation/robot.mdx)
-- [Offboard Computer](../ros/installation/offboard_pc.mdx)
-- [PS4 Joystick Controller (if applicable)](../ros/installation/controller.mdx)
+- [Robot Software](/docs/ros/installation/robot)
+- [Offboard Computer](/docs/ros/installation/offboard_pc)
+- [PS4 Joystick Controller (if applicable)](/docs/ros/installation/controller)
 
 ## Using your Robot
 
 The following tutorials are recommended to get to know your robot:
 
-- [Driving your Robot](../ros/tutorials/driving.mdx)
-- [Simulating your Robot](../ros/tutorials/simulator/overview.mdx)
-- [Navigating](../ros/tutorials/navigation_demos/overview.mdx)
+- [Driving your Robot](/docs/ros/tutorials/driving)
+- [Simulating your Robot](/docs/ros/tutorials/simulator/overview)
+- [Navigating](/docs/ros/tutorials/navigation_demos/overview)
 
 ## Advanced Topics
 
-- [Configuring Network Bridge](../ros/networking/computer_setup.mdx)
+- [Configuring Network Bridge](/docs/ros/networking/computer_setup)
@@ -1,6 +1,6 @@
 :::note
 
-If you are upgrading your robot from an older version of ROS, please refer to our upgrade instructions for upgrading to [Melodic](https://clearpathrobotics.com/assets/guides/kinetic/kinetic-to-melodic/index.html), [Noetic](https://clearpathrobotics.com/assets/guides/melodic/melodic-to-noetic/index.html) and [ROS 2 Humble](/docs/ros/installation/upgrading).
+If you are upgrading your robot from an older version of ROS, please refer to our upgrade instructions for upgrading to [ROS 1 Melodic](https://clearpathrobotics.com/assets/guides/kinetic/kinetic-to-melodic/index.html), [ROS 1 Noetic](https://clearpathrobotics.com/assets/guides/melodic/melodic-to-noetic/index.html) and [ROS 2](/docs/ros/installation/upgrading).
 
 :::
 

@@ -26,7 +26,7 @@ Failure to perform the firmware update could result in permanent failure of the
 
 #### How to update the firmware on affected SSDs
 
-1. Create an OS image backup of the SSD ([ROS 1 backup details here](/docs/ros1noetic/robots/outdoor_robots/husky/tutorials_husky#performing-a-backup),
+1. Create an OS image backup of the SSD ([ROS 1 backup details here](/docs_robots/legacy/ros1_robots/outdoor_robots/husky/tutorials_husky#performing-a-backup),
    [ROS 2 backup details here](/docs/ros/installation/upgrading#saving-a-hard-drive-image)).
 1. Remove the SSD from the robot. Ensure that you use an ESD grounded wrist strap when handling SSD or PCB components. 
 1. Use a USB SSD dock and a Windows computer to perform the update by [following the vendor's instructions](https://support-en.sandisk.com/app/answers/detailweb/a_id/50208#subject2).

@@ -0,0 +1,14 @@
+## Supported Platforms {#supported-platforms}
+
+| Platform  | Platform code | Supports ROS 2 Humble (amd64) | Supports ROS 2 Jazzy (amd64) | (arm64) |
+| :-------- | :------------ | :---------------------------- | :--------------------------- | :------ |
+| Husky     | A200          | Yes (As of 0.1)               | Yes (As of 2.0)              | Coming  |
+|           | A300          | No                            | Yes (As of 2.0)              | Coming  |
+| Jackal    | J100          | Yes (As of 0.1)               | Coming                       | Coming  |
+| Warthog   | W200          | Yes (As of 0.2)               | Coming                       | Coming  |
+| Dingo     | DD100         | Yes (As of 0.3)               | Coming                       | Coming  |
+|           | DO100         | Yes (As of 1.0)               | Coming                       | Coming  |
+|           | DD150         | Yes (As of 0.3)               | Coming                       | Coming  |
+|           | DO150         | Yes (As of 1.0)               | Coming                       | Coming  |
+| Ridgeback | R100          | Yes (As of 0.3)               | Coming                       | Coming  |
+| Boxer     | B250          | No                            | No                           | No      |
@@ -0,0 +1,37 @@
+## Supported Sensors {#supported-sensors}
+
+:::note
+
+While some sensor drivers may support other sensor models, the table below represents the
+sensors that have been validated by Clearpath.
+
+:::
+
+| Sensor                                                                               | Type         | Installation | Driver                                                                                      |
+| :----------------------------------------------------------------------------------- | :----------- | :----------- | :------------------------------------------------------------------------------------------ |
+| [SICK LMS-111/LMS-151](/docs_robots/accessories/sensors/lidar_2d/sick_lms111)           | 2D Lidar     | Debian       | [LMS1xx](https://github.com/clearpathrobotics/LMS1xx)                                       |
+| [Hokuyo UST10-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust10_lx)            | 2D Lidar     | Debian       | [urg_node](https://github.com/ros-drivers/urg_node)                                         |
+| [Hokuyo UST20-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust20_lx)            | 2D Lidar     | Debian       | [urg_node](https://github.com/ros-drivers/urg_node)                                         |
+| [Hokuyo UST30-LX](/docs_robots/accessories/sensors/lidar_2d/hokuyo_ust30_lx)            | 2D Lidar     | Debian       | [urg_node](https://github.com/ros-drivers/urg_node)                                         |
+| [MicroStrain 3DM-GX5](/docs_robots/accessories/sensors/imu/microstrain_3dm_gx5)         | IMU          | Debian       | [microstrain_intertial](https://github.com/LORD-MicroStrain/microstrain_inertial/tree/ros2) |
+| [MicroStrain 3DM-GQ7](/docs_robots/accessories/sensors/gps/microstrain_gq7)             | GPS/IMU      | Debian       | [microstrain_intertial](https://github.com/LORD-MicroStrain/microstrain_inertial/tree/ros2) |
+| [Redshift Labs UM7](/docs_robots/accessories/sensors/imu/redshift_labs_um7)             | IMU          | Debian       | [um7](https://github.com/ros-drivers/um7/tree/ros2)                                         |
+| CH Robotics UM6                                                                      | IMU          | Debian       | [um7](https://github.com/ros-drivers/um7/tree/ros2)                                         |
+| [Velodyne Puck](/docs_robots/accessories/sensors/lidar_3d/velodyne_puck)                | 3D Lidar     | Debian       | [velodyne](https://github.com/ros-drivers/velodyne/tree/ros2)                               |
+| [Garmin GPS 18x](/docs_robots/accessories/sensors/gps/garmin_gps_18x)                   | GPS          | Debian       | [nmea_navsat_driver](https://github.com/ros-drivers/nmea_navsat_driver/tree/ros2)           |
+| NovAtel SMART6 and SMART7                                                            | GPS          | Debian       | [nmea_navsat_driver](https://github.com/ros-drivers/nmea_navsat_driver/tree/ros2)           |
+| [Swift Navigation Duro](/docs_robots/accessories/sensors/gps/swift_navigation_duro)     | GPS          | Source       | [duro_gps_driver](https://github.com/szenergy/duro_gps_driver/tree/ros2-humble)             |
+| [Axis F1035-E](/docs_robots/accessories/sensors/cameras/axis_f1035_e)                   | Camera       | Debian       | [axis_camera](https://github.com/ros-drivers/axis_camera.git)                               |
+| [Axis M5525-E](/docs_robots/accessories/sensors/cameras/axis_m5525_e)                   | Camera       | Debian       | [axis_camera](https://github.com/ros-drivers/axis_camera.git)                               |
+| [Axis Q6225-LE-E](/docs_robots/accessories/sensors/cameras/axis_q6225_le)               | Camera       | Debian       | [axis_camera](https://github.com/ros-drivers/axis_camera.git)                               |
+| [Flir Blackfly S](/docs_robots/accessories/sensors/cameras/flir_blackfly_s)             | Camera       | Debian       | [flir_camera_driver](https://github.com/ros-drivers/flir_camera_driver/tree/humble-devel)   |
+| [Intel Realsense D435](/docs_robots/accessories/sensors/cameras/realsense_d435)         | Depth Camera | Debian       | [realsense-ros](https://github.com/IntelRealSense/realsense-ros/tree/ros2-development)      |
+| [Luxonis OAK-D](/docs_robots/accessories/sensors/cameras/luxonis_oakd)                  | Depth Camera | Debian       | [depthai-ros](https://github.com/luxonis/depthai-ros.git)                                   |
+| [Stereolabs Zed 2](/docs_robots/accessories/sensors/cameras/stereolabs_zed_2)           | Depth Camera | Source       | [zed-ros2-wrapper](https://github.com/stereolabs/zed-ros2-wrapper.git)                      |
+
+:::note
+
+Debian drivers are automatically installed on robots as part of the
+[Clearpath Robot Metapackage](../ros/installation/robot#clearpath-robot-metapackage).
+
+:::
@@ -1,4 +1,4 @@
 Robot Operating System (ROS) is an extensible framework for controlling and working with robotic systems.
 Clearpath Robotics recommends using ROS with your robot. If this is your first time using ROS, it is strongly
-recommended to run through our series of [ROS tutorials](../../../ros) to learn
+recommended to run through our series of [ROS tutorials](/docs/ros) to learn
 the basics of ROS.