Jackal

Note

This package supplies Sphinx-based tutorial content to assist you with setting up and using MBS Autonomous Navigation Platform Jackal. The tutorials topics are listed in the left column, and presented in the suggested reading order.

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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.

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 Foxy 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 Foxy Integration: Reconfigured with ROS Foxy, 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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  1. 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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  1. Enhanced Computing Power: The onboard PC has been upgraded to support the computational demands of ROS Foxy, LiDAR processing, and visual SLAM algorithms.

  2. 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.