Clearpath Jackal

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 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.

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.

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.