Clearpath Jackal
================

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.. attention::
    
  These tutorials assume that you are comfortable working with ROS2.  We recommend starting with `ROS2 tutorials`_ if you are not familiar with ROS2 already.

.. _ROS2 tutorials: https://docs.ros.org/en/humble/Tutorials.html



The Jackal, a differential drive robot, is an indoor development platform created by Clearpath Robotics, a Canadian manufacturer. 
Normally, this unit arrives with pre-installed ROS Noetic, ensuring smooth operations. However, for this specific project, both the 
MCU and the onboard PC required a complete reconfiguration with ROS Humble to accommodate the advanced features and integrations needed 
for enhanced waypoint navigation and sensor fusion capabilities.


The Jackal robot is designed to serve as a versatile platform for indoor research and development. Its robust construction and flexible 
configuration options make it suitable for a wide range of applications, from academic research to industrial automation.


Key Features:
~~~~~~~~~~~~~

- **Differential Drive:** The Jackal's differential drive system allows for precise control and maneuverability, making it ideal for 
  navigating complex indoor environments.

- **ROS Humble Integration:** Reconfigured with ROS Humble, the Jackal supports the latest in ROS middleware, ensuring compatibility with 
  cutting-edge research and development tools.

- **Ouster LiDAR Integration:** Equipped with an Ouster LiDAR sensor, the Jackal offers high-resolution 3D mapping and obstacle detection, 
  crucial for accurate navigation and environment perception.

- **ZED2i Stereo Camera:** The addition of the ZED2i stereo camera enhances the Jackal's vision capabilities, providing depth perception 
  and visual SLAM (Simultaneous Localization and Mapping) functionalities.

- **Waypoint Navigation:** The integrated waypoint navigation system allows the Jackal to autonomously navigate pre-defined paths, 
  making it an excellent tool for autonomous indoor logistics and exploration.

Customization and Components:
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

The Jackal's current configuration is tailored to maximize its functionality and adaptability for advanced robotics applications. The key components include:

1. **Ouster LiDAR:** Mounted on the Jackal, the Ouster LiDAR provides detailed 3D point clouds, essential for real-time mapping and 
   navigation in dynamic environments.

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2. **ZED2i Stereo Camera:** This stereo camera system offers high-definition video and depth sensing, enhancing the robot's ability 
   to perceive and interact with its surroundings.

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3. **Enhanced Computing Power:** The onboard PC has been upgraded to support the computational demands of ROS Humble, LiDAR processing, 
   and visual SLAM algorithms.

4. **Custom Mounts and Enclosures:** Specialized mounts and enclosures have been designed to securely integrate the Ouster LiDAR and 
   ZED2i camera, ensuring optimal performance and durability.


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    :caption: Jackal

    Overview <self>
    
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    :caption: Operation

    dependency

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    :caption: Setup

    quick_start

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    :caption: Networks

    robot_interface

.. toctree::
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    :caption: ROS2 Drivers

    ros

.. toctree::
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    :caption: Projects

    jkl_bu
    jkl_rs
    jkl_aac

.. toctree::
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    :caption: Getting Help

    getting_help
    faqs