The Jackal drivers, set up by MYBOTSHOP , are stored within the ros2_ws
. Specifically, in the src folder,
you’ll find the third_party
section housing drivers designed for the Jackal and additional sensors such as the Ouster Lidar and ZED2 camera.
For configuring these auxiliary sensors, the link provided offers valuable information, particularly regarding navigation. It’s important to note that while the setup maintains a default configuration, users have the flexibility to define their parameters within their custom package, as per their specific
Start-up Job¶
The default startup configuration for the Jackal is managed by the Clearpath startup job, unless explicitly specified otherwise. If there are any concerns regarding the robot’s startup, SSH into the Jackal allows you to verify the status of the startup job:
sudo service ros2 status
Here’s what the different markers signify:
Red Marker: Indicates a failed startup job.
Green Marker: Indicates normal functioning.
Grey Marker: Indicates the service hasn’t started yet.
In case of a red or grey marker, you can attempt to restart the service using:
sudo service ros2 restart
Auxiliary Sensors¶
To start the ouster lidar as well as the zed2i, you can launch it via:
ros2 launch jkl_sensors system.launch.py
Ouster Lidar¶
Start the Ouster Lidar driver only using:
ros2 launch jkl_sensors ouster.launch.py
Configuration settings are available within the jkl_sensors/ouster.launch.py
file.
ZED2i¶
The ZED2i camera employs an Nvidia Graphics card integrated into the onboard PC.
To start the Zed2i camera only:
ros2 launch jkl_sensors zed2i.launch.py
Ensure the camera is connected via USB3.0. If disconnected, reattach it; otherwise, the camera may not be detected.
For usage instructions, refer to the ZED2 ROS2 Tutorial.
Configuration settings are available within the jkl_sensors/zed2i.launch.py
file.