Robot_Doc_Jackal
This page is for Jackal robots at Monash Robotics.
- Robot Computer
- Ubuntu 22.04.4 LTS (check with lsb_release -a)
- Ros2: Humble
- Note:
-
When Lingheng was trying to upgrad ros1 to ros2, he met a problem with MCU (Micro Control Unit) and thought the MCU was dead, so he bought a new MCU from Clearpath. It turns out that MCU should be alive. If you need a MCU, try to contact Philip Pawlowski for the old replacement before ordering a new one.
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- Robot Computer
- Ubuntu 18.04.6 LTS
- ROS1: melodic
- Book Calendar: https://calendar.google.com/calendar/render?cid=monash.edu_360n3fbf7ee979ld1klksr2s2o@group.calendar.google.com
- https://clearpathrobotics.com/jackal-small-unmanned-ground-vehicle/
- https://www.clearpathrobotics.com/assets/guides/kinetic/jackal/index.html (with tutorial to reset the joy-stick connection)
- Follow the tutorial to connect joystick: https://docs.clearpathrobotics.com/docs/ros1noetic/robots/outdoor_robots/jackal/tutorials_jackal/#jackal-software-setup
- https://www.clearpathrobotics.com/assets/guides/foxy/jackal/JackalControllerPairing.html
- If the joystick is found in bluetooth, try to remove it with remove and repair. The MAC adress can be found in the item end with Wireless Controller.
- If it shows connected and immediately disconnected, check if you run trust .
- If you cannot find the wifi base, check if it’s a flat battery.
- Joystick control:
- Low speed: Press L1 + Left Thumbstick
- Turbo speed: Press L1 + Press L2 + Left Thumbstick (Note: hold L1 and L2 together)
- Robot Computer cannot boot automatically with the prompt (
Bios Date and Time some date in 2019. UEFI Defaults have been loaded. Press F2 or DEL to setup or F1 to continue)(Problem fixed on 2024.01.26)- This problem is caused by a flat CMOS battery. To solve this just replace it with a new CR2032 3V Battery
- Any CR2032 3V Battery should work.
- If you can not find a bios battery with a Molex 2 pin connector plug, use the old one with some tapes by following https://www.youtube.com/watch?v=oOhcHiSdhZo.
-
=> 
- Connect Joystick to your computer through Bluetooth
- Note: if cannot connect, try to remove Wireless Control and repair.
- Run:
roslaunch jackal_control teleop.launch joy_dev:=/dev/input/js0
- In your
~/clearpath/robot.yamlfile, you specifiedplatform:controller:ps4, so the generated~/clearpath/platform/config/teleop_joy.yamllooks like
j100_0000:
...
joy_node:
ros__parameters:
...
dev: '/dev/input/ps4'
- However, the joystick is added as /dev/input/js0. Therefore, you need to add the following udev rule to automatically symlink your js* device to /dev/input/ps4:
sudo gedit /etc/udev/rules.d/41-playstation.rules- Add
KERNEL=="js*", SUBSYSTEM=="input", ATTRS{name}=="Wireless Controller", MODE="0666", SYMLINK+="input/ps4"to41-playstation.rules - Note: Found this in https://www.clearpathrobotics.com/assets/guides/noetic/jackal/simulation.html, which is not provided in the latest documentation.
- Then run:
sudo udevadm control --reload-rulessudo udevadm trigger
- Now you can
- Robot: use your joystick to control the Jackal.
- Simulator: relaunch your simulator (don’t forget to source your native and clearpath ros workspace) and use your joystick to control the Jackal.
- Note: if all of these are set but still have problem, try to remove the joystick from your bluetooth and reconnect it.
- When Jackal cannot connect to the wifi base, you need to physically connect to the onboard Ethernet port to configure its network.
- Jackal 2 cannot connect to the wifi base, so try these:
- Connect the Ethernet cable
- Open the chassis and find Ethernet port: https://docs.clearpathrobotics.com/docs/robots/accessories/computers/
- Setup your laptop IP:
- Connect the Ethernet cable
- Jackal 2 cannot connect to the wifi base, so try these:
- Configuring NTP