+## Current versions:
+
+:::note
+Nested packages are part of the top repository.
+:::
+
+- clearpath_msgs: 
+ - clearpath_motor_msgs
+ - clearpath_msgs
+ - clearpath_platform_msgs
+- clearpath_config: 
+- clearpath_common: 
+ - clearpath_bt_joy
+ - clearpath_common
+ - clearpath_control
+ - clearpath_customization
+ - clearpath_description
+ - clearpath_diagnostics
+ - clearpath_generator_common
+ - clearpath_manipulators
+ - clearpath_manipulators_description
+ - clearpath_mounts_description
+ - clearpath_platform_description
+ - clearpath_sensors_description
+- clearpath_robot: 
+ - clearpath_generator_robot
+ - clearpath_platform
+ - lynx_motor_driver
+ - puma_motor_driver
+ - clearpath_robot
+ - clearpath_sensors
+ - clearpath_tests
+
+
+
+
+## [2.6] 2025-07-04
+
+### New Features
+- Added Lynx 1.0.1 firmware for A300 motor controllers (see [here](https://docs.clearpathrobotics.com/docs_robots/outdoor_robots/husky/a300/maintenance_husky#maintenance_husky_motor_controller_firmware) to update) with many performance improvements
+- Added travel field to Lynx feedback
+- Added MCU service for clearing needs_reset on A300
+- Updated Power.msg CC01 enums
+- Added sensor sample for phidgets_spatial
+- Added support for W200
+- Enabled foxglove bridge by default
+- Added A300 AMP attachments, samples
+- Added foxglove dependency
+- Enabled dependency on sevcon and valence bms
+- Updated grab-diagnostics to latest
+
+### Fixed
+- Fixed W200 Diff Drive Parameters
+- Re-enable publishing controller input to joy_teleop/cmd_vel
+- Dropped A200 controller manager update rate
+- Fixed expected diagnostics rates
+- Fixed missing dependency lms1xx
+
## [2.5] 2025-05-30
### New Features
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/customization.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/customization.mdx
index e65c864ce..e404c4a94 100644
--- a/docs_versioned_docs/version-ros2jazzy/ros/config/customization.mdx
+++ b/docs_versioned_docs/version-ros2jazzy/ros/config/customization.mdx
@@ -62,21 +62,34 @@ mkdir config launch
For the final step, modify the `CMakeLists.txt` files in both packages to ensure that the description and bringup files are installed to the workspace.
-Add the following entry to the `project_description/CMakeLists.txt` file.
+Add the following entry to the `project_description/CMakeLists.txt` file. Add these lines after the `find_package()` command but before the `ament_package()`.
```CMake
install(DIRECTORY meshes urdf
DESTINATION share/${PROJECT_NAME}
)
```
-And, add the following entry to the `project_bringup/CMakeLists.txt` file.
+And, add the following entry to the `project_bringup/CMakeLists.txt` file. Add these lines after the `find_package()` command but before the `ament_package()`.
```CMake
install(DIRECTORY config launch
DESTINATION share/${PROJECT_NAME}
)
```
-Now, all added files to the `meshes`, `urdf`, `config`, and `launch` directories will be installed to the `colcon_ws/install` directory, such that all other nodes will have access to these. Therefore, create
+Now, all added files to the `meshes`, `urdf`, `config`, and `launch` directories will be installed to the `colcon_ws/install` directory, such that all other nodes will have access to these.
+
+>> As long as these directories exist, even if empty, the package will build. However, if any of these directories to `install` is deleted `colcon build` will fail.
+
+#### Create a URDF
+If custom meshes are required, create a URDF Xacro file in the `urdf` directory named `project_description.urdf.xacro` (swap `project` for the name of the project). By default, use the following skeleton to define the `xml` and `xacro` versions:
+```xml
+
+
+
+
+
+
+```
## Include Package Description and Bringup in Configuration
Once the packages have been setup and all customization files have been created and installed, it is possible to include these into the configuration file. By including these descriptions and bringups, the Clearpath configuration system will generate holistic, amalgamated files that will at launched at start-up.
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/imu.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/imu.mdx
index 7fed94f2b..cbabddad8 100644
--- a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/imu.mdx
+++ b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/sensors/imu.mdx
@@ -8,6 +8,7 @@ toc_max_heading_level: 4
import CHRoboticsUM6 from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/chrobotics_um6.mdx";
import RedShiftUM7 from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/redshift_um7.mdx";
import MicrostrainIMU from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/microstrain_imu.mdx";
+import PhidgetsIMU from "/docs_versioned_docs/version-ros2jazzy/components/yaml/sensors/phidgets_spatial.mdx";
Inertial measurement units are sensors that publish messages of the type `sensor_msgs/Imu`. These messages contain orientation, angular velocity, and/or linear acceleration depending on the device.
@@ -16,6 +17,9 @@ Inertial measurement units are sensors that publish messages of the type `sensor
### Microstrain IMU
+### Phidgets IMU
+
+
### CHRobotics UM6
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/installation/offboard_pc.mdx b/docs_versioned_docs/version-ros2jazzy/ros/installation/offboard_pc.mdx
index 6418e6320..14456cfe6 100644
--- a/docs_versioned_docs/version-ros2jazzy/ros/installation/offboard_pc.mdx
+++ b/docs_versioned_docs/version-ros2jazzy/ros/installation/offboard_pc.mdx
@@ -27,9 +27,30 @@ with an IP address that won't interfere with other devices on the network, such
Follow the [official instructions](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html) for
installing ROS 2 Jazzy from debian packages.
+## Clearpath Packages
+
+Clearpath hosts open-source and closed-source ROS packages compiled as debian packages on our own servers. To add
+these packages to your system you must add Clearpath's servers to your `apt` sources by opening a terminal and
+running the following commands:
+```bash
+wget https://packages.clearpathrobotics.com/public.key -O - | sudo apt-key add -
+sudo sh -c 'echo \
+ "deb https://packages.clearpathrobotics.com/stable/ubuntu $(lsb_release -cs) main" > \
+ /etc/apt/sources.list.d/clearpath-latest.list'
+sudo apt-get update
+```
+
+To update `rosdep` dependencies with the package built & hosted on Clearpath's servers, run
+```bash
+sudo wget \
+ https://raw.githubusercontent.com/clearpathrobotics/public-rosdistro/master/rosdep/50-clearpath.list \
+ -O /etc/ros/rosdep/sources.list.d/50-clearpath.list
+rosdep update
+```
+
## Clearpath Desktop metapackage
-Once the ROS 2 Jazzy has been installed, the [Clearpath Desktop](https://github.com/clearpathrobotics/clearpath_desktop)
+Once ROS 2 Jazzy has been installed, the [Clearpath Desktop](https://github.com/clearpathrobotics/clearpath_desktop)
metapackage can be installed.
```
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/troubleshooting.mdx b/docs_versioned_docs/version-ros2jazzy/ros/troubleshooting.mdx
index 7616096c3..34a6b5c32 100644
--- a/docs_versioned_docs/version-ros2jazzy/ros/troubleshooting.mdx
+++ b/docs_versioned_docs/version-ros2jazzy/ros/troubleshooting.mdx
@@ -7,6 +7,8 @@ sidebar_position: 9
The following are common problems our [support team](https://support.clearpathrobotics.com/hc/en-us)
have received. Before [submitting a request](https://support.clearpathrobotics.com/hc/en-us/requests/new)
please review the items below to see if they resolve your problem. If your problem is not resolved, download a [diagnostic capture](./cockpit/ros2_diagnostics.mdx#capture-diagnostics) from the [Cockpit webserver](./cockpit/overview.mdx) and attach it to the support request.
+An alternative to Cockpit diagnostic capture is running `ros2 run clearpath_robot grab-diagnostics` which will grab all the typical data needed for troubleshooting and place it into a compressed folded.
+It can be copied off the computer using a tool such as `scp`.
Our [getting started](/docs/ros) section may also help answer some questions.
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/tutorials/navigation_demos/overview.mdx b/docs_versioned_docs/version-ros2jazzy/ros/tutorials/navigation_demos/overview.mdx
index 278f99d0a..e90108807 100644
--- a/docs_versioned_docs/version-ros2jazzy/ros/tutorials/navigation_demos/overview.mdx
+++ b/docs_versioned_docs/version-ros2jazzy/ros/tutorials/navigation_demos/overview.mdx
@@ -1,5 +1,5 @@
---
-title: Navitation Demos
+title: Navigation Demos
sidebar_label: Navigation Demos
sidebar_position: 1
toc_min_heading_level: 2
diff --git a/docusaurus.config.js b/docusaurus.config.js
index 43dd75b29..4c48edf21 100644
--- a/docusaurus.config.js
+++ b/docusaurus.config.js
@@ -14,7 +14,8 @@ const config = {
url: "https://docs.clearpathrobotics.com",
baseUrl: "/",
onBrokenLinks: "throw",
- onBrokenMarkdownLinks: "warn",
+ onBrokenMarkdownLinks: "throw",
+ onBrokenAnchors: "throw",
favicon: "img/website_images/favicon.ico",
i18n: {
diff --git a/package-lock.json b/package-lock.json
index d58f2cc91..1667ba3b9 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -5377,9 +5377,9 @@
}
},
"node_modules/caniuse-lite": {
- "version": "1.0.30001690",
- "resolved": "https://registry.npmjs.org/caniuse-lite/-/caniuse-lite-1.0.30001690.tgz",
- "integrity": "sha512-5ExiE3qQN6oF8Clf8ifIDcMRCRE/dMGcETG/XGMD8/XiXm6HXQgQTh1yZYLXXpSOsEUlJm1Xr7kGULZTuGtP/w==",
+ "version": "1.0.30001723",
+ "resolved": "https://registry.npmjs.org/caniuse-lite/-/caniuse-lite-1.0.30001723.tgz",
+ "integrity": "sha512-1R/elMjtehrFejxwmexeXAtae5UO9iSyFn6G/I806CYC/BLyyBk1EPhrKBkWhy6wM6Xnm47dSJQec+tLJ39WHw==",
"funding": [
{
"type": "opencollective",
@@ -21577,9 +21577,9 @@
}
},
"caniuse-lite": {
- "version": "1.0.30001690",
- "resolved": "https://registry.npmjs.org/caniuse-lite/-/caniuse-lite-1.0.30001690.tgz",
- "integrity": "sha512-5ExiE3qQN6oF8Clf8ifIDcMRCRE/dMGcETG/XGMD8/XiXm6HXQgQTh1yZYLXXpSOsEUlJm1Xr7kGULZTuGtP/w=="
+ "version": "1.0.30001723",
+ "resolved": "https://registry.npmjs.org/caniuse-lite/-/caniuse-lite-1.0.30001723.tgz",
+ "integrity": "sha512-1R/elMjtehrFejxwmexeXAtae5UO9iSyFn6G/I806CYC/BLyyBk1EPhrKBkWhy6wM6Xnm47dSJQec+tLJ39WHw=="
},
"ccount": {
"version": "2.0.1",
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diff --git a/static/img/robot_images/husky_a300_images/husky_a300_base_link.png b/static/img/robot_images/husky_a300_images/husky_a300_base_link.png
index a4ff54aa0..94eb0cd1b 100644
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+![]({require("./img/phidgets_spatial.png").default})
+