Jackal SUL (Jazzy)

Getting Started

To start-up the Jackal, the instructional video playlist can be used which details the opening and use of the Jackal.

Important

This manual is an extension of the Clearpath Jackal J100 documentation for ROS2 Jazzy users. For powering on and basic usage, refer to the Clearpath product documentation.

Platform Overview

Jackal is a durable, lightweight, and fast unmanned ground robot designed for rapid prototyping and research purposes. It comes equipped with an onboard computer, as well as essential IMU and GPS capabilities. Standard perception tools are available, featuring URDF, simulator integration, and demonstration applications.

The Jackal SUL is configured with:

• Ouster LiDAR - High-resolution 3D LiDAR for mapping and navigation

• ROS2 Jazzy - Latest ROS2 distribution on Ubuntu 24.04

• Clearpath Robot Services - Automatic driver startup on boot

• Nav2 Navigation Stack - Full autonomous navigation capabilities

Data Sheets

• Jackal Data Sheet

• Ouster LiDAR Documentation

Documentations

• Jackal Docs

• Ouster Docs

• Nav2 Documentation

Robot Interface

Instructions for interfacing with the robot using Ubuntu 24.04 and ROS2 Jazzy.

Important

This procedure should be followed after reading the manuals for the Clearpath Jackal. Furthermore, all of the Jackal’s functionality can be verified via the tutorials by Clearpath. Instructions for set up can be found at Jackal Docs.

1. Open the latch

2. Unscrew the user tray

3. Connect ethernet cable

Note

The Ethernet port at the back of the Jackal can be utilized for setting up communication via LAN.

Static Network Connection

For the first time, one needs to connect through a LAN cable to configure the robot’s network. To create a static connection in your PC (not the robot’s), in Ubuntu go to Settings -> Network then click on + and create a new connection.

1. Change the connection to Manual in the IPv4 settings.

2. Set the Address IP as 192.168.131.51 and the Netmask as 24.

3. Click save and restart your network.

After a successful connection, check the host’s local IP by typing in the Host PC’s terminal:

ifconfig

Now, ping the robot:

ping 192.168.131.1

Access the robot via SSH:

ssh administrator@192.168.131.1

The default password is:

clearpath

Jackal IP Addresses

Device	IP Address	Username	Password
J100 Computer	192.168.131.1	administrator	clearpath
Webserver	192.168.131.1:9000	admin	mybotshop
Ouster LiDAR	192.168.131.20

Note

Sometimes other networks can cause disruptions when connecting to the Jackal. It is best to have only your connection to the robot active and all others inactive.

Quick-Start

Powering on the Jackal

1. Release the emergency stop button by turning it clockwise.

2. Press the power button to turn on the robot.

3. Wait for the robot to boot up completely (approximately 1 minute).

4. The Clearpath services will start automatically.

PS4 Controller

1. PS4 button is to power on the controller.

2. L1 is the dead man’s switch for slow speed.

3. R1 is the dead man’s switch for high speed.

4. LJ is to move in x direction.

Digital Twin (RViz2)

To visualize the Jackal, you can run:

ros2 launch jkl_viz view_robot.launch.py

ROS2 Drivers - MBS

The ROS2 drivers mentioned below are all automatically started when launching the system launch file. These drivers further expand on the functionality for interfacing as well as for independent component checking.

Overview

The J100 ROS2 driver includes the following components:

• Joint States Publisher

• Robot Description (URDF)

• Platform Control

• Inertial Measurement Unit (IMU) Publisher

• Sensor Fusion

• Twist Mux (Command Multiplexer)

Auto Drivers Startup

The J100 uses Clearpath robot services for automatic startup. To check service status:

sudo systemctl status clearpath-robot.service

To restart the service:

sudo systemctl restart clearpath-robot.service

Environment Variables

The following environment variables are used by the J100 system:

Variable	Default	Description
JKL_NS	j100_0941	Robot namespace

Note

Replace j100_0941 with your robot’s namespace throughout the documentation.

Sensors

LiDAR - Ouster

The Ouster LiDAR is automatically started when launching the system launch file. The ROS2 driver expands functionality for interfacing and independent component checking.

Documentation: https://github.com/ouster-lidar/ouster-ros

Published Topics:

Topic	Type
/ouster/scan	sensor_msgs/LaserScan
/ouster/points	sensor_msgs/PointCloud2

Simulation & Teleoperation

Gazebo Simulation

The J100 simulation package uses ROS2 Jazzy with Gazebo Fortress.

To launch the Jackal simulation environment:

ros2 launch jkl_gazebo fortress.launch.py

RViz2 Visualization

To visualize the robot in RViz2:

ros2 launch jkl_viz view_robot.launch.py

Teleoperation (Keyboard)

To teleoperate the Jackal using your keyboard:

ros2 run teleop_twist_keyboard teleop_twist_keyboard \
    --ros-args --remap cmd_vel:=/j100_0941/cmd_vel

To enable stamped messages:

ros2 run teleop_twist_keyboard teleop_twist_keyboard \
    --ros-args --remap cmd_vel:=/j100_0941/cmd_vel -p stamped:=true

Note

Replace j100_0941 with your robot’s namespace.

ROS2 Navigation

The J100 uses the Nav2 navigation stack for autonomous navigation. Before running any navigation commands, ensure you have set the RMW implementation:

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

SLAM (2D Mapping)

Run SLAM to create a 2D occupancy grid map using the LiDAR sensor:

ros2 launch jkl_navigation slam.launch.py

Drive the robot slowly (recommended 0.2 m/s) using the joystick controller or keyboard teleop to build the map. Once satisfied with the map, save it using:

ros2 run nav2_map_server map_saver_cli -f \
    /opt/mybotshop/src/mybotshop/jkl_navigation/maps/custom_map \
    --ros-args --remap map:=/$JKL_NS/map

Note

Replace $JKL_NS with your robot’s namespace (e.g., j100_0941). Maps are saved to /opt/mybotshop/src/mybotshop/jkl_navigation/maps/. After saving, rebuild the workspace with colcon build --symlink-install so the new map can be found.

3D SLAM

Run 3D SLAM using LiDAR point clouds for full 3D environment mapping:

ros2 launch jkl_3d_slam system.launch.py

This launches two core components:

• scanmatcher_node - NDT-based scan matching for odometry estimation

• graph_based_slam_node - Loop closure detection and graph optimization

Configuration Parameters:

Key parameters in jkl_3d_slam/config/3d_slam.yaml:

Parameter	Default	Description
registration_method	NDT	Registration algorithm (NDT or GICP)
ndt_resolution	2.0	NDT grid resolution (m)
use_imu	true	Enable IMU for pose estimation
use_odom	true	Enable wheel odometry
scan_min_range	1.0	Minimum scan range (m)
scan_max_range	200.0	Maximum scan range (m)

Topics:

• Input: /$JKL_NS/sensors/points (PointCloud2)

• Input: /$JKL_NS/sensors/imu_0/data (IMU)

• Output: /$JKL_NS/map (3D point cloud map)

Save 3D Map:

ros2 service call /$JKL_NS/map_save std_srvs/srv/Empty {}

View 3D Map:

pcl_viewer map.pcd

Note

Replace $JKL_NS with your robot’s namespace (e.g., j100_0941). The 3D map is saved as map.pcd in /opt/mybotshop/.

Odom Navigation

Run odometry-based navigation without a pre-built map. This mode navigates in the global map frame using only odometry for localization:

ros2 launch jkl_navigation odom_navi.launch.py

This is useful for relative navigation where you don’t have a map of the environment yet.

Map-Based Navigation

Use a pre-built 2D map for autonomous navigation with AMCL localization:

Localization Only:

To run only the localization node (useful for testing or custom navigation):

ros2 launch jkl_navigation localization.launch.py

Full Autonomous Navigation:

To run complete autonomous navigation with path planning:

ros2 launch jkl_navigation map_navi.launch.py

This launches the full Nav2 stack including:

• Map Server - loads pre-built occupancy grid maps

• AMCL - Adaptive Monte Carlo Localization

• Controller Server - path following (DWB controller)

• Planner Server - global path planning (NavFn)

• Behavior Server - recovery behaviors

• Waypoint Follower - for multi-point navigation

Debugging Tools

Check Transforms (TF Tree)

To debug TF tree:

ros2 run rqt_gui rqt_gui tf:=/j100_0941/tf tf_static:=/j100_0941/tf_static

Visualize URDF

To view the robot’s URDF model:

ros2 launch jkl_description view_robot.launch.py

Start-up Job Status

The Jackal uses Clearpath robot services for automatic launch of ROS2 nodes. To check service status:

sudo systemctl status clearpath-robot.service

Service Status Indicators:

• Red marker - The startup job has failed

• Green marker - Everything is working correctly

• Grey marker - The service has not started yet

ROS2 Package Reference

Detailed documentation for each package in the J100 workspace.

jkl_description

URDF and Xacro robot description files for the J100 Jackal platform.

Usage:

ros2 launch jkl_description view_robot.launch.py

jkl_gazebo

Gazebo simulation package for the J100.

Usage:

ros2 launch jkl_gazebo fortress.launch.py

jkl_navigation

Nav2-based navigation stack for the J100 platform.

Launch Files:

Launch File	Description
slam.launch.py	2D SLAM mapping mode
odom_navi.launch.py	Odometric navigation (no map)
localization.launch.py	Localization only (AMCL + Map Server)
map_navi.launch.py	Full autonomous navigation with map

jkl_3d_slam

3D LiDAR SLAM package using graph-based optimization with NDT scan matching and loop closure detection.

Components:

• scanmatcher_node - NDT-based scan matching for odometry

• graph_based_slam_node - Loop closure and graph optimization

Usage:

ros2 launch jkl_3d_slam system.launch.py

jkl_viz

RViz2 visualization package with pre-configured displays.

Usage:

ros2 launch jkl_viz view_robot.launch.py

ROS2 Information

1. ROS Version: Jazzy

2. Simulation: Ignition Fortress

3. Robot Namespace: /j100_0941

4. Middleware: rmw_cyclonedds_cpp (recommended)

Autonomous Mobile Robot Safety Guidelines

When deploying autonomous mobile robots, prioritizing safety procedures is essential to prevent accidents and ensure secure operations. The following guidelines outline key safety measures when working with an autonomous mobile robot:

Work Area Safety

• Maintain a clean and well-lit work area. Cluttered or poorly illuminated spaces can impede the proper functioning of sensors and navigation systems.

• Avoid operating autonomous mobile robots in explosive atmospheres, such as areas with flammable liquids, gases, or dust. The robot’s components may pose a risk in such environments.

• Keep bystanders and unauthorized personnel at a safe distance during robot operation to prevent interference with autonomous navigation.

Electrical Safety

• Ensure the robot’s power system adheres to electrical safety standards. Regularly inspect and maintain power components to prevent malfunctions.

• Implement mechanisms to protect the robot from adverse weather conditions, such as rain or wet environments.

• Regularly inspect power cables and connections and replace damaged components promptly to minimize the risk of electrical issues.

Navigation Safety

• Implement obstacle detection and avoidance systems to prevent collisions with objects, people, or other robots.

• Define and enforce safety zones within the robot’s operational area to minimize the risk of unintended interactions with personnel or other equipment.

• Regularly calibrate and test the robot’s navigation sensors and systems to ensure accurate and reliable performance.

Emergency Response

• Install an emergency stop mechanism to quickly halt the robot’s operation in case of unforeseen circumstances or emergencies.

• Clearly mark and communicate emergency stop locations throughout the robot’s operational area.

• Conduct regular emergency response drills to ensure personnel are familiar with procedures for handling unexpected situations.

Data Security and Privacy

• Implement robust cybersecurity measures to protect the robot’s control systems and data from unauthorized access or manipulation.

• Ensure compliance with privacy regulations when collecting, storing, or transmitting data captured by the robot’s sensors.

Human Interaction Safety

• Integrate sensors and communication systems to detect and respond to the presence of humans in the robot’s vicinity.

• Clearly communicate the robot’s operational status and intentions using visual and audible signals to alert nearby individuals.

• Establish protocols for safe human-robot collaboration, especially in shared workspaces.

Residual Risks

Despite the implementation of safety measures, certain residual risks may persist. These include:

• Impairment of sensor functionality.

• Risk of collisions in crowded or dynamic environments.

• Cybersecurity vulnerabilities.

• Unintended human interactions due to unforeseen circumstances.

Autonomous Mobile Robots (AMR) are advanced technologies that require correct usage to avoid accidents and ensure a secure environment. Learn and follow the proper procedures diligently; prioritize both quality and safety.

Caution

• Please read the instruction manuals pertaining to Clearpath Jackal before operating the robot.

• Always be vigilant and remain close to the emergency stop buttons when the robot is in operation.

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

Known Issues

…

Frequently Asked Questions

…