Husky A300 DE

1 Attention

Read this document carefully. In case of doubt, it is essential to consult specialists, experts, or manufacturers of the assemblies used. The robot must not be put into operation before clarification.

Do not allow persons who are not familiar with robotics or these instructions to operate the robot. Robots are dangerous in the hands of untrained users.

2 Disclaimer

The provided robot, sold by MYBOTSHOP GmbH, is an R&D device and does not have CE Marking and/or Certificate of Incorporation. Basic ROS understanding is required. If you are not familiar with ROS, we recommend checking the ROS2 Wiki first.

The quoted robot is considered a partly completed machine under the Machinery Directive 2006/42/EC and does not carry a CE marking.

Any information or materials provided by MYBOTSHOP GmbH are for R&D purposes only and are provided “AS IS” without any representation or warranty of any kind, express or implied, including but not limited to merchantability, fitness for a particular purpose, or non-infringement.

MYBOTSHOP GmbH shall not be liable for any damages, including but not limited to direct, indirect, special, incidental, or consequential damages, arising out of or in connection with the use or inability to use the information or materials provided, regardless of the form of action.

3 Quick-Start

Important: This manual is for the R&D kit and contains additional information about the Husky A300 robot. For powering on and usage of the Husky A300, refer to the Husky A300 manual provided via QR code in the Clearpath documentation.

3.1 Webserver

This module comes pre-installed for heavy integration projects. It should be accessible directly at:

http://192.168.131.1:9000/

or via the Wi-Fi IP to which the robot is connected.

The Husky A300 webserver can be configured via the config file in the ROS 2 package:

/opt/mybotshop/src/mybotshop/husky_webserver/config/robot_webserver.yaml

3.1.2 Dashboard

View IP Address of the Husky A300.
View system load.

3.1.3 Console

From the Console you can:

Enable the Husky A300 ROS 2 services.
Disable the Husky A300 ROS 2 services.
Record system Husky A300 logs.
Monitor battery status.
Use pre-configured action buttons (adaptable to new ROS 2 services).
Use the web joystick.
View online image streams.
(Optionally) STT → AI → TTS (disabled by default).

3.1.4 Remote Desktop

Provides access to the on-board screen of the Husky A300’s computer.

3.1.5 Navi Indoor

Currently disabled.

3.1.6 Navi Outdoor

Currently disabled.

3.1.7 LLM Interface

Currently disabled.

3.2 Robot Interface

Instructions for interfacing with the robot using Ubuntu 24.04 and ROS 2 Jazzy.

3.2.1 Static Network Connection

For the first configuration, connect either via Wi-Fi or LAN cable to the robot’s network.

On the host PC (Ubuntu):

Open Settings → Network.
Add a new wired connection.
In IPv4 settings, select Manual.
Set:
- Address: 192.168.131.51
- Netmask: 24
Save and restart the network.

Then:

Check host IP: ifconfig
Ping the robot:
```
ping 192.168.131.1
```
Access the robot via SSH:
```
ssh -X robot@192.168.131.1
```
Default password: clearpath

3.2.2 Husky A300 IP Addresses

Example IP configuration:

Device	IP Address	Username	Password
Husky A300 MCU	192.168.131.1	robotistrator	123
Husky A300 MCU Web	192.168.131.1:9000	admin	mybotshop
Seyond Robin W Muster	192.168.131.20
Oak D Pro	192.168.131.21
Fixposition	192.168.131.22
Router SSID	192.168.131.100	Husky A300XXXXX -5G	mybotshop
Router Web	192.168.131.100	admin	Admin123

Note: Other active networks can interfere with connecting to the Husky A300. Disable unused connections when connecting to the robot.

3.2.3 Interfacing

Connect to the Husky A300 as described in the network section.
Open several SSH sessions:
```
ssh -X robot@192.168.131.1
```
Verify that the robot is processing information:
```
ros2 topic list
```
If topics are displayed, the drivers are running.

3.3 Visualization

View the Husky A300’s current state:

ros2 launch husky_a300_viz view_robot.launch.py

3.4 Tele-operation

To teleoperate the Husky A300 (update namespace/environment variables as required):

ros2 run teleop_twist_keyboard teleop_twist_keyboard \
  --ros-args --remap cmd_vel:=/$HSKY_NS/cmd_vel \
  --ros-args -p stamped:=true

4.1 SLAM (Simultaneous Localization and Mapping)

To create a map for map-based navigation:

Launch SLAM:

ros2 launch hsky_navigation slam.launch.py

Use teleoperation (e.g., 0.2 m/s via keyboard or Logitech controller) to explore the environment.

Save the map (example paths):

ros2 run nav2_map_server map_saver_cli -f \
  /opt/mybotshop/src/mybotshop/husky_a300_nav2/maps/custom_map \
  --ros-args --remap map:=/husky_a300_0001/map

ros2 run nav2_map_server map_saver_cli -f \
  /opt/mybotshop/src/mybotshop/husky_a300_nav2/maps/custom_map_2 \
  --ros-args --remap map:=/husky_a300_0001/map

Rebuild so the new maps are found (required if map name is not map):

cd /opt/mybotshop/ && colcon build --symlink-install
source /opt/mybotshop/install/setup.bash

4.3 Map Navigation

This uses the generated map (default name map). If a different name is used, update parameters in the hsky_navigation package.

Ensure the map is generated, placed correctly in the ROS package, and the workspace has been built with colcon.

Launch map navigation:

ros2 launch hsky_navigation map_navi.launch.py

5 Core Packages

5.1 Auto Drivers Startup

To verify the robot system from the terminal:

Many drivers are off by default except the webserver and can be activated via the webserver or:
```
sudo service clearpath-platform start
```

The list of all drivers is in hsky_autostart/startup_installer.py.

Check services:

sudo service hsky-webserver status
sudo service clearpath-platform status

The Husky A300 launches the hsky_autostart system.launch.py on startup (if configured). Verify startup:

sudo service clearpath-platform status

If you see “Unit ros2.service could not be found”, startup is not installed.

Service markers:

Red – startup job failed.
Green – running correctly.
Grey – service not started.

Restart service if needed:

sudo service clearpath-platform restart

To modify the startup job, update system.launch.py in hsky_autostart and then:

ros2 run hsky_autostart startup_installer.py

5.2 Visualization

Ensure drivers are activated via web GUI or system services, then:

ros2 launch hsky_viz view_robot.launch.py

5.3 Robot Description

The description package contains URDFs and meshes for the Husky A300. Additional sensors can be added as needed.

View the model:

ros2 launch hsky_description view_robot.launch.py

5.4 Lidar – Seyond Robin

Seyond is a 3D lidar providing point clouds. The ROS 2 package is modified for A300 and time synchronization.

It is turned on by default via auto services. If auto service is disabled, manually start:

ros2 launch hsky_lidars seyond.launch.py

5.5 Depth Camera – Oak-D Pro-POE

Oak-D Pro is a stereo depth camera providing 3D point clouds.

Normally enabled via auto services. If needed, start manually:

ros2 launch hsky_depth_cameras oakd.launch.py

5.6 GPS – Fixposition

Fixposition provides high-accuracy GPS and odometry. It requires pre-configuration via the Fixposition interface at 192.168.131.22.

Reference: Fixposition RTK streaming

Normally enabled automatically. To launch manually:

ros2 launch hsky_gps fixposition.launch.py

5.7 Web Interface

Connect your PC to the Fixposition Wi-Fi (SSID starting with fp-). Password: 1234567890.
Open a browser and navigate to 10.0.1.1 to access the Fixposition dashboard.

5.8 Software Upgrade

To update the Vision-RTK 2 software:

In the web interface, go to System → Update.
Upload the .swu file via the upload area or drag and drop.

5.9 Configuration

Configuration is available in the Configuration tab.

5.9.1 Fusion Configuration

Key options:

Autostart – start Fusion engine automatically on boot.
Housing – Prototype (3D-printed) or Standard (aluminum).
Tuning Mode – platform dynamics; for this setup use Slow robot.
GNSS Extrinsics – GNSS antenna positions relative to the Vision-RTK 2 sensor frame (meters, preferably millimeter accuracy).

5.9.2 GNSS Configuration

Configure the correction data source to receive GNSS correction data as required.

5.9.3 Network Configuration

Options:

Wi-Fi Client – network the device will connect to.
Wi-Fi Access Point – SSID and password of the Fixposition AP.
Ethernet – custom IP address for wired access.

5.9.4 I/O Configuration

In the Output Messages table, select TCP0 for all items except those highlighted in orange when TCP0 is selected.

5.10 Status

After configuration, start Fusion with Start.

Monitor:

IMU Status – should show converging.
Baseline Status – should be green.

6 Simulator

6.1 Launch Gazebo – Onboard Computer

Run on the onboard computer:

ros2 launch clearpath_gz simulation.launch.py \
  setup_path:=/opt/mybotshop/src/mybotshop/hsky_gazebo/clearpath/

6.2 Launch Gazebo – External Computer

On an external machine:

ros2 launch clearpath_gz simulation.launch.py \
  setup_path:=/home/$USER/ros2/src/mybotshop/hsky_gazebo/clearpath/

Ensure setup_path points to the local location of hsky_gazebo.

6.3 Teleoperate Robot

Example teleoperation commands in simulation:

export HSKY_NS=a300_00045
ros2 run teleop_twist_keyboard teleop_twist_keyboard \
  --ros-args --remap cmd_vel:=/$HSKY_NS/cmd_vel \
  --ros-args -p stamped:=true

7 Installation

7.1 Robot Computer Setup

Note: The repository should already be available and built on the Husky A300’s computer if configured by MYBOTSHOP.

Create directory:

cd /opt/
sudo mkdir mybotshop
sudo chown -R administrator:administrator /opt/mybotshop

Sync repository from robot (example):

rsync -avP -t --delete -e ssh src \
  robot@192.168.131.1://opt/mybotshop

Clone/copy repository and install dependencies:

cd /opt/mybotshop/src/mybotshop/ && ./ros2_dependencies.sh
cd /opt/mybotshop/src/mybotshop/hsky_webserver
sudo chmod +x webserver_installer.sh
./webserver_installer.sh

Build ROS 2 workspace:

cd /opt/mybotshop && colcon build --symlink-install
source install/setup.bash

Add sources to ~/.bashrc:

# Mybotshop Additions
source /opt/ros/jazzy/setup.bash
source /opt/mybotshop/install/setup.bash

Upgrade Clearpath Husky firmware via Clearpath docs.

Add Clearpath repo and user:

sudo adduser robot
sudo usermod -aG sudo robot
cd /opt/mybotshop/src/mybotshop/hsky_bringup/scripts/
./clearpath_install.sh

Reload services:

sudo systemctl daemon-reload
sudo systemctl start clearpath-robot.service

Build ROS 2 workspace in Release:

cd /opt/mybotshop
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
source install/setup.bash

Edit /etc/clearpath/robot.yaml and replace with hsky_autostart/config/a300.yaml.

Restart services:

sudo systemctl daemon-reload && \
sudo systemctl start clearpath-robot.service

Replace dev: '/dev/input/ps4' with device name: "PS4 Controller" in:

/opt/ros/jazzy/share/clearpath_control/config/a300/teleop_ps4.yaml

Reinstall startup:

ros2 run hsky_autostart startup_installer.py

8 Robotic Manipulator Safety Guidelines

When deploying robotic manipulators, prioritize safety to mitigate risks and ensure secure operations.

8.1 Work Area Safety

Maintain a clean, well-organized, and well-lit work area.
Avoid hazardous environments (corrosive substances, extreme temperatures, sharp objects).
Restrict the work area to authorized personnel during operation.

8.2 Electrical Safety

Ensure power systems meet electrical safety standards.
Protect equipment from moisture and extreme temperatures.
Inspect cables and connections regularly and replace damaged parts.

8.3 Manipulation Safety

Implement collision detection systems.
Define and enforce safety zones.
Regularly calibrate and test sensors and systems.

8.4 Emergency Response

Install an emergency stop mechanism.
Clearly mark emergency stop locations.
Conduct regular emergency response drills.

8.5 Data Security and Privacy

Apply cybersecurity best practices.
Ensure compliance with privacy regulations for captured data.

8.6 Human Interaction Safety

Integrate sensors to detect humans in the work area.
Communicate operational status via visual and audible signals.
Establish protocols for safe human-robot collaboration.

8.7 Residual Risks

Residual risks may include:

Sensor impairment.
Collisions during complex tasks.
Cybersecurity vulnerabilities.
Unintended human interactions.

Robotic manipulators require correct use to avoid accidents and maintain a secure environment.

9 Autonomous Mobile Robot Safety Guidelines

When deploying autonomous mobile robots, follow these guidelines to ensure safe operation.

9.1 Work Area Safety

Keep the area clean and well-lit.
Avoid explosive atmospheres (flammable liquids, gases, dust).
Keep bystanders and unauthorized personnel at a safe distance.

9.2 Electrical Safety

Ensure power systems meet electrical standards.
Protect from rain and wet environments.
Inspect cables/connectors frequently and replace damaged parts.

9.4 Emergency Response

Install emergency stop mechanisms.
Clearly mark emergency stop locations.
Conduct regular emergency drills.

9.5 Data Security and Privacy

Implement robust cybersecurity to protect control systems and data.
Ensure privacy compliance for sensor data.

9.6 Human Interaction Safety

Integrate sensors and communication systems to detect humans.
Communicate operational status and intentions clearly.
Establish collaboration protocols in shared workspaces.

9.7 Residual Risks

Residual risks include:

Sensor impairment.
Collisions in crowded/dynamic environments.
Cybersecurity vulnerabilities.
Unintended human interactions.

AMRs require correct usage and adherence to procedures to ensure safety.