clearpath_common

ROS 2 common packages for Clearpath Robotics platforms.

This repository provides the core platform bringup, control, diagnostics, robot description assets, and generator utilities used across Clearpath robotic platforms.

For supported platforms, sensors and manipulators plus additional details, please see: https://docs.clearpathrobotics.com/docs/ros/

Packages

• clearpath_common: Metapackage for core common stack.
• clearpath_bt_joy: Bluetooth joystick cutoff node. (Unused at the moment)
• clearpath_control: Platform controllers, localization, and teleoperation launch files.
• clearpath_customization: Templates and generators for project bringup/description customization.
• clearpath_description: Clearpath URDF descriptions metapackage.
• clearpath_diagnostics: Diagnostic updater and aggregator launch/config.
• clearpath_generator_common: Common Python generator utilities and templates.
• clearpath_manipulators: Manipulator integration package.
• clearpath_manipulators_description: Manipulator description assets.
• clearpath_mounts_description: Mount description assets.
• clearpath_platform_description: Common platform meshes, URDF, and description launch.
• clearpath_sensors_description: Sensor description assets.

Requirements

• Ubuntu with ROS 2 installed.
• colcon and standard ROS 2 build tools.
• A robot setup directory at /etc/clearpath (or a custom setup_path) for runtime configuration files. For more details, see docs.clearpathrobotics.com.

Build

From your ROS 2 workspace root:

rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

Generator Tests

Changes to the generators in this repository (clearpath_generator_common) may affect the generated output for launch files, parameter files, and descriptions. The clearpath_generator_tests repository versions the expected output and validates it through CI.

Before merging, ensure a corresponding branch with the same name exists in clearpath_generator_tests with regenerated samples. See the Development Workflow section of clearpath_generator_tests for the full process.

License

BSD. See LICENSE. Common ROS 2 packages for Clearpath Platforms, including generators, configuration, description, and control.