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-- - | Length | (Length) | CPR Item | Manufacturer | Manufacturer Item | - | :------- | :------- | :------: | :----------- | :---------------- | - | 76.2 mm | (3") | 027637 | Digi-Key | ADR3575-S0300-ND | - | 101.6 mm | (4") | | Digi-Key | ADR3575-S0400-ND | - | 127 mm | (5") | | Digi-Key | ADR3575-S0500-ND | - | 152.4 mm | (6") | | Digi-Key | ADR3575-S0600-ND | - | 177.8 mm | (7") | | Digi-Key | ADR3575-S0700-ND | - | 203.2 mm | (8") | 013718 | Digi-Key | ADR3575-S0800-ND | - | 228.6 mm | (9") | | Digi-Key | ADR3575-S0900-ND | - | 254 mm | (10") | | Digi-Key | ADR3575-S1000-ND | - | 279.4 mm | (11") | 028332 | Digi-Key | ADR3575-S1100-ND | - | 304.8 mm | (12") | 010174 | Digi-Key | ADR3575-S1200-ND | - | 330.2 mm | (13") | 029268 | Digi-Key | ADR3575-S1300-ND | - | 355.6 mm | (14") | | Digi-Key | ADR3575-S1400-ND | - | 381 mm | (15") | 011938 | Digi-Key | ADR3575-S1500-ND | - | 406.4 mm | (16") | | Digi-Key | ADR3575-S1600-ND | - | 431.8 mm | (17") | | Digi-Key | ADR3575-S1700-ND | - | 457.2 mm | (18") | | Digi-Key | ADR3575-S1800-ND | - | 482.6 mm | (19") | | Digi-Key | ADR3575-S1900-ND | - | 508 mm | (20") | | Digi-Key | ADR3575-S2000-ND | - | 533.4 mm | (21") | | Digi-Key | ADR3575-S2100-ND | - | 558.8 mm | (22") | | Digi-Key | ADR3575-S2200-ND | - | 584.2 mm | (23") | | Digi-Key | ADR3575-S2300-ND | - | 609.6 mm | (24") | | Digi-Key | ADR3575-S2400-ND | - | 431.8 mm | (25") | | Digi-Key | ADR3575-S2500-ND | - | 457.2 mm | (26") | | Digi-Key | ADR3575-S2600-ND | - | 482.6 mm | (27") | | Digi-Key | ADR3575-S2700-ND | - | 508 mm | (28") | 019438 | Digi-Key | ADR3575-S2800-ND | - | 533.4 mm | (29") | | Digi-Key | ADR3575-S2900-ND | - | 558.8 mm | (30") | | Digi-Key | ADR3575-S3000-ND | - | 584.2 mm | (31") | | Digi-Key | ADR3575-S3100-ND | - | 609.6 mm | (32") | | Digi-Key | ADR3575-S3200-ND | - | 533.4 mm | (33") | | Digi-Key | ADR3575-S3300-ND | - | 558.8 mm | (34") | | Digi-Key | ADR3575-S3400-ND | - | 584.2 mm | (35") | | Digi-Key | ADR3575-S3500-ND | - | 609.6 mm | (36") | | Digi-Key | ADR3575-S3600-ND | - -
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- Click on a sensor's hyperlink for specifications, configuration, and downloads.
-- Ask for it by emailing info@clearpathrobotics.com. -
-- To get in touch with a salesperson regarding Clearpath Robotics products, please email research-sales@clearpathrobotics.com. -
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| **Motion Stop button**: LED is solid green when Dingo is able to drive and is flashing green when the Dingo's motors are disengaged; pressing button toggles the motors between engaged and disengaged mode (further details in [Motion Stop Buttons](#dingo-stop-buttons)); LED is not illuminated when connected to DC shore power or to the wired charger (as the robot is prevented from moving in this state) |
-| 
| **Comms indictor**: LED is solid green when communication between the MCU and computer has been established and LED is off otherwise |
-| 
| **Wi-Fi indicator**: LED is solid green when Wi-Fi is connected and LED is off otherwise |
-| 
| **Battery indicator**: LED is solid green when the battery level is ok, flashing green when connected to DC shore power, solid yellow when the battery level is getting low (should be charged soon), and solid red when the battery level is critical (should be charged immediately) |
-| 
| **System Power button**: LED is solid blue when the system is powered on and running and the LED is flashing blue during the shutdown process; when the system is powered off, pressing the power button begins the power on process; when the system is powered on, a quick press of the power button begins a graceful shutdown and a prolonged press of the power button triggers and immediate power off of the system |
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- | System State (lowest to highest priority) | -Corner LED Output | -
|---|---|
| Idle | -Front LEDs solid white (low intensity), rear LEDs solid red (low intensity) | -
| Driving | -Front LEDs solid white (medium intensity), rear LEDs solid red (medium intensity) | -
| Low Battery | -Pulsing orange LEDs | -
| Reset Required | -Adjacent corners alternating between red and off | -
| Motion Stop Engaged | -Flashing red LEDs | -
| System Fault | -Flashing orange LEDs | -
| System State (lowest to highest priority) | -Corner LED Output | -
|---|---|
| Idle | -Front LEDs solid white (low intensity), rear LEDs solid red (low intensity) | -
| Driving | -Front LEDs solid white (medium intensity), rear LEDs solid red (medium intensity) | -
| Low Battery | -Pulsing orange LEDs | -
| Reset Required | -Adjacent corners alternating between red and off | -
| Motion Stop Engaged | -Flashing red LEDs | -
| - Charging: wired or wireless (Dingo 1.5 only) - | -Pulsing green LEDs | -
| Shore Power Connected | -Pulsing blue LEDs | -
| - Shore Power Connected and Charging (Dingo 1.5 only) - | -Pulsing green to blue LEDs | -
| Puma Fault | -Flashing red LED on Puma at fault, solid red for other corners | -
| - Shore Power Fault (Dingo 1.5 only) - | -Flashing blue and red LEDs | -
| Battery Fault | -Flashing yellow and red LEDs | -
| LED Command Timeout | -Solid red | -
- on Dingo's HMI panel.
-The LEDs should show a test pattern, after which you will wait about 30 seconds for the internal computer to finish booting up.
-Once it has finished booting, the Comms indicator should turn green.
-This indicates that ROS is up on the computer and has established communications with the Dingo base.
-
-### Network Configuration
-
-To get Dingo connected to your local Wi-Fi network, you must first access the Onboard Computer using a wired connection to the robot.
-Remove the top trough cover and the appropriate yellow fairing to access the computer module, then connect to one of the network ports with a standard Ethernet cable.
-See the [Dingo Tutorials](tutorials_dingo.mdx) for details.
-
-### Connecting and Using the Controller {#controller}
-
-To use your controller, it must be paired with your Dingo and powered on.
-If your purchased the Onboard Computer from Clearpath Robotics, your controller is already paired with your Dingo.
-If your controller has become unpaired or if you wish to pair a new controller, following the instructions in the [Dingo Tutorials](tutorials_dingo.mdx).
-
-To teleoperate Dingo, first clear the motion-stop.
-Then, power on the controller by pressing the `PS` button on the controller.
-Once the blue LED on the top of the controller goes solid, you are paired and ready to drive.
-
-Hold the L1 trigger button (deadman switch) and push the left thumbstick forward to drive the Dingo.
-For full speed mode, hold the R1 trigger.
-See the figure below for the Sony PS4 controls layout.
-If you are not seeing any action, refer to [Support](#dingo-support) to get in touch with support.
-
-
- to power it off.
- Then remove the batteries for charging.
-
- Dingo's batteries are charged outside the Dingo using the charger(s) provided.
-
- Alternatively, if you have multiple batteries, you can hot-swap them one at a time.
- The system will remain operational while hot-swapping as long as there is at least one battery in the system or the system is connected to shore power prior to removing the batteries.
- Note that plugging in shore power will engage a motion-stop and it is not possible to drive Dingo while connected to shore power.
-
- The Sealed Lead-Acid batteries have overcurrent protection in the form of an ATO fuse.
- The lithium batteries include integrated protections against fault due to overcurrent, overdischarge, and short circuit.
- The batteries are rugged and designed for the demanding environments into which Dingo may be deployed.
- is located on the HMI Panel at the back of Dingo.
-To engage Stop Mode, press the Motion Stop button once; you should see that the green LED by the Motion Stop button is flashing and that all four corner LEDs are flashing red.
-To disengage Stop Mode, press the Motion Stop button again; all LEDs should return to their original values.
-
-When in Stop Mode, the Dingo will not drive.
-The commands received while in Stop Mode are not buffered; Dingo will always act on the latest commands received.
-This means that if the commands are stopped before the Motion Stop button is pressed to disengage Stop Mode, the Dingo will not move.
-If the commands are continued, Dingo will move at the speed commanded once the Motion Stop button is pressed to disengage Stop Mode.
-
-Ensure that the Motion Stop button is accessible at all times.
-Avoid mounting payloads that extend over the rear of Dingo and would block access to the Motion Stop button.
-
-Note that the Dingo MCU board does provide a breakout to allow an external motion-stop button/switch to be integrated by the end user, which could be used to engage/disengage Stop Mode.
-See [Optional External Motion Stop](integration_dingo/integration_dingo.mdx#dingo-external-motion-stop) for details on adding an external motion-stop button/switch.
-
-### Electrical System
-
-Dingo is powered by batteries capable of delivering over 2000W for short durations.
-This gives Dingo's motors their great performance; however, it is also enough power to cause severe bodily harm.
-Always use caution when operating Dingo to avoid personal injury or property damage.
-To ensure safety, please observe the following precautions:
-
-- Do not tamper with the battery terminals or wiring.
-- Do not tamper with the fuses, except to check and change the fuses.
-- Always replace fuses with the same type and rating to ensure continued protection against risk of fires.
-- Consult Clearpath Robotics support if you need to service the batteries.
-- Do not lay tools or other objects on top of the batteries.
-- Charge the battery only with the charger provided by Clearpath Robotics.
-- Please dispose of the batteries properly or return them to Clearpath Robotics to do so.
-
-### Lifting and Transport
-
-- Ensure that Dingo's Stop Mode is engaged when transporting short distances and powered off when transporting longer distances.
-- Do not push the robot at more than 0.5 m/s (1.6 ft/s) or damage to the motor controls may occur.
-
-### Performance Considerations
-
-Included in Dingo are native software checks and limits to protect the robot.
-However, it is recommended to monitor the system's status during usage with the `/status` and `/diagnostics` topics.
-These topics provide useful information regarding voltages, currents, temperatures and general health of the system.
-
-### Recommended Safe Work Procedures
-
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| **Battery Status** The four LED segments provide an approximate indication of the relative lifetime remaining in the battery. |
-| 
| **Communication Status** When green, Husky is receiving a stream of correctly-formatted motion commands, and is ready to drive. When yellow, Husky is receiving commands, but will not drive due to emergency stop or another error. When red, serial communications are currently timed-out. |
-| 
| **General Error Status** Illuminates red when Husky will not drive due to an error state. Such states include emergency stop, insufficient battery power, or an unspecified software error. |
-| 
| **Emergency Stop Status** Illuminates red when Husky will not drive due to the emergency stop being activated, either onboard or wireless (if available). |
-| 
| **Charge Indicator** Illuminates red when Husky user power is being supplied externally. |
-
-#### Buttons and Lockouts
-
-The silver button at the top of the Status Panel is used to power the Husky on and off. From the "off" state, pressing the button
-will cause the Husky to power on and a blue ring at the edge of the button will be illuminated. From the "on" state, pressing
-the button will cause the Husky to power off and the blue ring will no longer be illuminated.
-
-See [Stop button and Lockout](#husky-stop-button-and-lockout) for details of the Stop button and Lockout.
-
-#### Payloads
-
-Additional payloads such IMUs, lidars, cameras, GPS, manipulators and many more can be integrated with Husky, either as part of your Husky purchase or installed after receiving your Husky.
-You can find a list of supported packages and related documentation for payloads in this documention portal, under the [Computers](../../accessories/computers/computers.mdx),
-[Sensors](../../accessories/sensors/sensors.mdx), [Manipulators](../../accessories/manipulators/manipulators.mdx), and [Accessories](../../accessories/add-ons/add-ons.mdx) sections.
-In addition, refer to [Husky Integration](integration_husky/integration_husky.mdx) for details on how to integrate your own payload or how to integrate a payload kit from Clearpath Robotics.
-Each payload kit that ships from Clearpath Robotics comes with a custom mounting bracket and cabling for easy attachment to Husky.
-
-#### Orientation References
-
-The reference frame used by all Clearpath Robotics ground robots is based on ISO 8855, and is shown in the figure below.
-Husky's front is shown.
-When commanded with a positive translational velocity (forward), wheels travel in the positive X-direction.
-The direction of the axes differs from those used for roll, pitch, and yaw in aircraft, and care should be taken to ensure that data is interpreted correctly.
-
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- | **Motion Stop button**: LED is solid green when Jackal is able to drive and flashing green when the Jackal's motors are disengaged; pressing button toggles the motors between engaged and disengaged mode (further details in [Motion Stop Buttons](#jackal-stop-buttons)) |
-| | **Comms indictor**: LED is solid green when communication between the MCU and computer has been established and LED is off otherwise |
-| | **Wi-Fi indicator**: LED is solid green when Wi-Fi is connected and LED is off otherwise |
-| | **Battery indicator**: LED is solid green when the battery level is ok, solid yellow when the battery level is getting low (should be charged soon), and solid red when the battery level is critical (should be charged immediately) |
-| | **System Power button**: LED is solid blue when the system is powered on and running and the LED is flashing blue during the shutdown process; when the system is powered off, pressing the power button begins the power on process; when the system is powered on, a quick press of the power button begins a graceful shutdown and a prolonged press of the power button triggers and immediate power off of the system |
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- on Jackal's HMI panel.
-The LEDs should show a test pattern, after which you will wait about 30 seconds for the internal computer to finish booting up.
-Once it has finished booting, the Comms indicator should turn green.
-This indicates that ROS is up on the computer and has established communications with the Jackal base.
-
-### Network Configuration
-
-To get Jackal connected to your local Wi-Fi network, you must first access the Onboard Computer using a wired connection to the robot.
-Open the chassis, lower the computer tray, and connect to the network port labeled STATIC with a standard
-ethernet cable. See the [Jackal Tutorials](tutorials_jackal.mdx) for details
-on completing the Wi-Fi setup.
-
-### Connecting and Using the Controller {#controller}
-
-To use your controller, it must be paired with your Jackal and powered on.
-If your purchased the Onboard Computer from Clearpath Robotics, your controller is already paired with your Jackal.
-If your controller has become unpaired or if you wish to pair a new controller, following the instructions in
-the [Jackal Tutorials](tutorials_jackal.mdx).
-
-To teleoperate Jackal, first clear the motion-stop.
-Then, power on the controller by pressing the `PS` button on the controller.
-Once the blue LED on the top of the controller goes solid, you are paired and ready to drive.
-Hold the L1 trigger button (deadman switch) and push the left thumbstick forward to drive the Jackal.
-For full speed mode, hold the R1 trigger.
-See the figure below for the Sony PS4 controls layout.
-If you are not seeing any action, refer to [Support](#jackal-support) to get in touch with support.
-
-
- to power it off.
-
-Jackal's lithium battery may be charged internal to the chassis: simply plug in
-the charger to the charge port located under the rear fender. Charging will occur
-when Jackal is powered down.
-
-Alternatively, if you have multiple batteries, you can easily lift the lid and
-remove the battery for external charging. When charging externally, remove the pigtail
-which adapts the charger to the platform's weather sealed charge port.
-
-The battery is manufactured for Clearpath Robotics by AllCell Technologies. The
-pack includes integrated protections against fault due to overcurrent, overdischarge,
-and short circuit. The pack is rugged and designed for the demanding environments into
-which Jackal may be deployed.
-
-However, please take note of the following:
-
-- The pack must not be stored or operated above +60 °C or below -19 °C.
-- The pack must not be punctured or disassembled.
-- The pack should be dropped off or delivered to your local hazardous waste authority for disposal.
-- When traveling with Jackal, consult your airline's restrictions regarding lithium
- batteries. If possible, bring the pack in your carry on luggage, where it will
- be subject to normal cabin temperatures and pressures.
-
-Please contact Clearpath Robotics for additional information about Jackal's battery or
-for information about purchasing additional packs.
-
----
-
-## Safety Considerations {#safety}
-
-Clearpath Robotics is committed to high standards of safety.
-Jackal contains several features to protect the safety of users and the integrity of the robot.
-
-:::caution
-
-Jackal is a fast moving robotic platform. Please read the following notices carefully.
-
-:::
-
-### General Warnings
-
-Jackal is a rugged and high-performance robot.
-For the safety of yourself and others, always conduct initial experiments and software development with
-the robot raised off the ground. Place a wooden crate, a set of sawhorses, a sturdy storage tub, or any
-other solid flat structure having a height greater than 100 mm under Jackal to keep the wheels clear of the
-ground ("up on blocks").
-
-When starting out, favour slower wheel speeds. Jackal's control loops can accurately maintain velocities as low as 0.1 m/s.
-Operating at such speeds will give you more time to react if things don't go quite as you expect.
-
-### Motion Stop Buttons {#jackal-stop-buttons}
-
-The Motion Stop button is located on the HMI Panel at the back of Jackal.
-To engage Stop Mode, press the Motion Stop button once; you should see that the green LED by the Motion Stop button is flashing and that all four corner LEDs are flashing red.
-To disengage Stop Mode, press the Motion Stop button again; all LEDs should return to their original values.
-
-When in Stop Mode, the Jackal will not drive.
-The commands received while in Stop Mode are not buffered; Jackal will always act on the latest commands received.
-This means that if the commands are stopped before the Motion Stop button is pressed to disengage Stop Mode, the Jackal will not move.
-If the commands are continued, Jackal will move at the speed commanded once the Motion Stop button is pressed to disengage Stop Mode.
-
-Ensure that the Motion Stop button is accessible at all times.
-Avoid mounting payloads that extend over the rear of Jackal and would block access to the Motion Stop button.
-
-### Electrical System
-
-Jackal is powered by batteries capable of delivering high outputs for short durations.
-This gives Jackal's motors their great performance; however, it is also enough power to cause severe bodily harm.
-Always use caution when operating Jackal to avoid personal injury or property damage.
-To ensure safety, please observe the following precautions:
-
-- Do not tamper with the plug attached to the battery.
-- Do not tamper with the fuses, except to check and change the fuses.
-- Always replace fuses with the same type and rating to ensure continued protection against risk of fires.
-- Consult Clearpath Robotics support if you need to service the batteries.
-- Charge the battery only with the charger provided by Clearpath Robotics.
-- Please dispose of the batteries properly or return them to Clearpath Robotics to do so.
-
-### Lifting and Transport
-
-For the safety of users and to maximize the lifetime of Jackal, please observe the following when manually transporting the robot:
-
-- Ensure that Jackal's Stop Mode is engaged when transporting short distances and powered off when transporting longer distances.
-- Do not push the robot at more than 0.5 m/s (1.6 ft/s) or damage to the motor controls may occur.
-
-### Performance Considerations
-
-Included in Jackal are native software checks and limits to protect the robot.
-However, it is recommended to monitor the system's status during usage with the `/status` and `/diagnostics` topics.
-These topics provide useful information regarding voltages, currents, temperatures and general health of the system.
-
-### Recommended Safe Work Procedures
-
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