Add A300 attachments to config/yaml/attachments section

[civerachb-cpr]

Add A300 attachments to the yaml documentation. Move other pages back 1 position so A300 is first

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[rhysfaultless-cpr]

Intent the HTML block.

[civerachb-cpr]

HTML table formatting was copied from another page already in the repo, e.g.

cpr-documentation/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a200/bumper.mdx

Lines 1 to 10 in cc5420e

<table>

<tr>

<td>

<center>

<figure>

<img src={require("./img/bumper.png").default} width="250"/>

</figure>

</center>

</td>

<td>

The entire components directory consistently uses unindented HTML blocks, so I'd rather keep the formatting in this MR consistent with existing files. If formatting is an issue in the future we can bulk-update the whole directory at once in a different MR.

[rhysfaultless-cpr]

• What's the purpose of the link on the end of the wireless charger's face?
• Why rotate the coordinate system relative to base_link?

[civerachb-cpr]

The purpose of the link is to allow TF operations relative to the charger. Without that link there's no easy way to determine where the charger's face is relative to base-link.

The rotation is arbitrary, but reflects the general trend that +x is the front of the device. On A200 where the charger faced forwards we didn't rotate it. Now that it points sideways we rotate the frame to reflect that.

[rhysfaultless-cpr]

There is only one version of Top Plate for the Husky A300.

[civerachb-cpr]

The description generator, which is what this is describing, has two: one with PACS links defined and one without.

[rhysfaultless-cpr]

• The centre Wi-Fi / Bluetooth antenna is missing
• RPSW-2642 noted two configurations. Are both both of these supported in software?
  • Arch with single centred antenna
  • add the cellular antenna, and 2 more Wi-Fi duck antennas

Will

[civerachb-cpr]

What shape is the centre antenna? I'm just using the STLs you exported for me which includes 2 cylindrical antennas in one + the single boxy cellular antenna in the other.

For practical purposes, the STL is only used for the visual representation; the collision body is an over-sized box collider that's big enough to encompass several duck antennas. If the number/placement of the antennas doesn't exactly match it will only affect the visual model, but won't have any impacts on the robot's actual performance.

Currently the software does not support the two different visualizations; the arch always includes the cellular antenna + the two cylindrical antennas as pictured in amp_sensor_arch.png. Because the collider is over-sized and covers the whole upper region of the arch it didn't seem worth the extra complexity to either break out the antennas as their own attachment that would need configuration, or to add extra parameters to the arch that would only affect the visualization.

[rhysfaultless-cpr]

The 3rd antenna is the same size as the other duck antennas.

The images on the documentation website can be used as reference:
https://docs.clearpathrobotics.com/docs_robots/solutions/husky_a300_amp/