clearpathrobotics · civerachb-cpr · Jun 5, 2025 · Jun 5, 2025 · Jun 23, 2025 · Jun 23, 2025
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+<table>
 <table> 
 <tr> 
 <td> 
 <center> 
 <figure> 
     <img src={require("./img/bumper.png").default} width="250"/> 
 </figure> 
 </center> 
 </td> 
 <td> 
 <table> 
 <tr> 
 <td> 
 <center> 
 <figure> 
     <img src={require("./img/bumper.png").default} width="250"/> 
 </figure> 
 </center> 
 </td> 
 <td> 
+<tr>
+<td>
+<center>
+<figure>
+    <img src={require("./img/amp_enclosure.png").default} width="250" />
+</figure>
+</center>
+</td>
+<td>
+
+```yaml
+platform:
+  attachments:
+    - name: enclosure
+      type: a300.amp_enclosure
+      model: default
+      parent: base_link
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      enabled: true
+```
+</td>
+</tr>
+</table>
+
+The top of the enclosure features user rails running down the full length, to allow easy mounting
+of additional payloads. The `a300.amp_enclosure` URDF includes the following links that can be set
+as the `parent_link` of other attachments:
+
+- `${name}_center_mount`: the centre of the upper surface of the enclosure. Items mounted to the
+  user rails should measure from this point.
+- `${name}_antenna_mount`: the standard parent for the AMP Sensor Arch, located at the rear of the
+  user rails
+- `${name}_front_lidar_mount`: located on the front face of the enclosure, this is the default location
+  for the AMP's front-facing 3D lidar
+- `${name}_ins_mount`: located on the rear face of the enclosure, this is the default location for
+  the AMP's INS sensor
+
@@ -0,0 +1,35 @@
+<table>
+<tr>
+<td>
+<center>
+<figure>
+    <img src={require("./img/amp_sensor_arch.png").default} width="250" />
+</figure>
+</center>
+</td>
+<td>
+
+```yaml
+platform:
+  attachments:
+    - name: sensor_arch
+      type: a300.amp_sensor_arch
+      model: default
+      parent: enclosure_antenna_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      enabled: true
+```
+</td>
+</tr>
+</table>
+
+The AMP sensor arch includes the following links to attach sensors and other accessories:
+- `${name}_front_camera_mount`: located under the centre-top of the arch, this is the default
+  location for the front-facing teleoperation camera
+- `${name}_rear_camera_mount`: located under the centre-top of the arch, this is the default
+  location for the rear-facing teleoperation camera
+- `${name}_lidar_mount`: default mounting location for a secondary 3D lidar. This mount is only
+  usable when an additional bracket is physically installed on the arch.
+- `${name}_left_antenna_mount`: the default mounting location for the GNSS/INS sensor's left antenna
+- `${name}_right_antenna_mount`: the default mounting location for the GNSS/INS sensor's right antenna
@@ -0,0 +1,34 @@
+<table>
+<tr>
+<td>
+<center>
+<figure>
+    <img src={require("./img/bumpers.png").default} width="250"/>
+</figure>
+</center>
+</td>
+<td>
+
+```yaml
+platform:
+  attachments:
+    - name: front_bumper
+      type: a300.bumper
+      model: default
+      parent: front_bumper_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      enabled: true
+    - name: rear_bumper
+      type: a300.bumper
+      model: default
+      parent: rear_bumper_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      enabled: true
+```
+</td>
+</tr>
+</table>
+
+The bumpers can be extended by setting the `extension` parameter.
@@ -0,0 +1,38 @@
+<table>
+<tr>
+<td>
+<center>
+<figure>
+    <img src={require("./img/spotlights.png").default} width="250" />
+</figure>
+</center>
+</td>
+<td>
+
+```yaml
+platform:
+  attachments:
+    - name: driving_light_1
+      type: a300.spotlight
+      parent: sensor_arch_front_left_corner_mount
+      xyz: [0.0, 0.0, -0.08]
+      rpy: [0.0, 0.5235987755982988, 0.5235987755982988]
+    - name: driving_light_2
+      type: a300.spotlight
+      parent: sensor_arch_front_right_corner_mount
+      xyz: [0.0, 0.0, -0.08]
+      rpy: [0.0, 0.5235987755982988, -0.5235987755982988]
+    - name: driving_light_3
+      type: a300.spotlight
+      parent: sensor_arch_rear_left_corner_mount
+      xyz: [0.0, 0.0, -0.08]
+      rpy: [0.0, 0.5235987755982988, -0.5235987755982988]
+    - name: driving_light_4
+      type: a300.spotlight
+      parent: sensor_arch_rear_right_corner_mount
+      xyz: [0.0, 0.0, -0.08]
+      rpy: [0.0, 0.5235987755982988, 0.5235987755982988]
+```
+</td>
+</tr>
+</table>
@@ -0,0 +1,31 @@
+<table>
+<tr>
+<td>
+<center>
+<figure>
+    <img src={require("./img/top_plate_default.png").default} width="250" />
+</figure>
+</center>
+</td>
+<td>
+
+```yaml
+platform:
+  attachments:
+    - name: top_plate
+      type: a300.top_plate
+      model: default
+      parent: default_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      enabled: true
+```
+</td>
+</tr>
+</table>
+
+The default top plate has 3 mounting locations that can be used as the `parent_link` for sensors and other
+attachments:
+- `${name}_front_mount` at the front edge of the plate,
+- `${name}_rear_mount` at the rear edge of the plate, and
+- `${name}_default_mount` located in the centre of the plate.
@@ -0,0 +1,30 @@
+<table>
+<tr>
+<td>
+<center>
+<figure>
+    <img src={require("./img/top_plate_pacs.png").default} width="250" />
+</figure>
+</center>
+</td>
+<td>
+
+```yaml
+platform:
+  attachments:
+    - name: top_plate
+      type: a300.top_plate
+      model: pacs
+      parent: default_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      enabled: true
+```
+</td>
+</tr>
+</table>
+
+Attach accessories to the top plate mounts by setting the accessory's `parent` parameter to one of the grid mounting
+locations displayed above. The grid mounting locations span from `${name}_mount_a1` to `${name}_mount_e9`, where the
+front left-most location is the `a1` mount and the rear right-most location is the `e9` mount. The letters correspond
+to the columns and the number to the rows.
@@ -0,0 +1,29 @@
+<table>
+<tr>
+<td>
+<center>
+<figure>
+    <img src={require("./img/wireless_charger.png").default} width="250" />
+</figure>
+</center>
+</td>
+<td>
+
+```yaml
+platform:
+  attachments:
+    - name: wireless_charger
+      type: a300.wireless_charger
+      model: default
+      parent: base_link
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      enabled: true
+```
+</td>
+</tr>
+</table>
+
+The A300 can optionally be equipped with a wireless charging coil, mounted to the the right side of the robot.
+
+The `${name}_face` link is located in the centre of the charging coil's face, with the X axis pointing outwards.
@@ -1,7 +1,7 @@
 ---
 title: A200 Attachments
 sidebar_label: A200
-sidebar_position: 2
+sidebar_position: 3
 toc_min_heading_level: 2
 toc_max_heading_level: 5
 ---

@@ -0,0 +1,65 @@
+---
+title: A300 Attachments
+sidebar_label: A300
+sidebar_position: 2
+toc_min_heading_level: 2
+toc_max_heading_level: 5
+---
+import A300AmpEnclosure from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/amp_enclosure.mdx";
+import A300AmpSensorArch from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/amp_sensor_arch.mdx";
+import A300Bumper from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/bumper.mdx";
+import A300Spotlight from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/spotlight.mdx";
+import A300TopPlateDefault from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/top_plate_default.mdx";
+import A300TopPlatePacs from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/top_plate_pacs.mdx";
+import A300WirelessCharger from "/docs_versioned_docs/version-ros2jazzy/components/yaml/attachments/a300/wireless_charger.mdx";
+
+## Bumper
+
+The A300 can have bumpers. By default, we have two bumpers, on the front and rear of the robot.
+
+<A300Bumper />
+
+
+## Top Plate
+
+The A300 description supports two types of top plates that modify the mounting links of the robot.
+
+### Default
+
+The **default** top plate is mounted on top of the robot.
+<A300TopPlateDefault/>
+<br/>
+
+### PACS
+The **PACS** top is physically identical to the **default** plate, but adds PACS-compatible mounting links.
+<A300TopPlatePacs/>
+<br/>
+
+## Wireless Charger
+
+<A300WirelessCharger />
+
+## AMP Attachments
+
+The Husky AMP (Autonomous Mobile Platform) has large enclosure on top to contain additional computers, sensors, and
+power-distribution equipment and an arch to support additional sensors. These attachments can be added to
+the A300 just like any other attachment.
+
+### AMP Enclosure
+
+If the AMP Enclosure is used, the [top plate](#top-plate) should be omitted.
+
+<A300AmpEnclosure />
+
+### AMP Sensor Arch
+
+The AMP sensor arch is used to attach additional sensors and antennas.
+
+<A300AmpSensorArch />
+
+### Spotlights
+
+The AMP is equipped with multiple spotlights to assist in teleoperation in dark environments. The models also include
+simulated light sources when used with [Gazebo](../../../../tutorials/simulator/overview.mdx)
+
+<A300Spotlight />
@@ -1,7 +1,7 @@
 ---
 title: DD1X0 and DO1X0 Attachments
 sidebar_label: DD1X0 & DO1X0
-sidebar_position: 5
+sidebar_position: 6
 toc_min_heading_level: 2
 toc_max_heading_level: 5
 ---

@@ -1,7 +1,7 @@
 ---
 title: J100 Attachments
 sidebar_label: J100
-sidebar_position: 3
+sidebar_position: 4
 toc_min_heading_level: 2
 toc_max_heading_level: 5
 ---

@@ -1,7 +1,7 @@
 ---
 title: R100 Attachments
 sidebar_label: R100
-sidebar_position: 6
+sidebar_position: 7
 toc_min_heading_level: 2
 toc_max_heading_level: 5
 ---

@@ -1,7 +1,7 @@
 ---
 title: W200 Attachments
 sidebar_label: W200
-sidebar_position: 4
+sidebar_position: 5
 toc_min_heading_level: 2
 toc_max_heading_level: 5
 ---