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General Setup for ROS 1

Setting up Husky A200 with kinetic: https://youtu.be/wA8UTF0mKBY

ROS 2 Tips and Tricks

Creating setup.bash for robot.yaml

Off-board computer setup: https://docs.clearpathrobotics.com/docs/ros/networking/ros2-networking#off

generate bash from robot.yaml 

ros2 run clearpath_generator_common generate_bash -s ~/clearpath
Then source the file 
source ~/clearpath/setup.bash

Starting Clearpath ROS Discovery Server

First navigate to your husky configuration directory on your laptop and create server bash file: 

ros2 run clearpath_generator_common generate_discovery_server -s ~/clearpath

Then launch the server: 

bash -e ~/clearpath/discovery-server-start

Viewing Robot

If you want to view the current husky configuration and make changes while watching what happens without reloading everything then run this command: 

ros2 launch clearpath_viz view_robot.launch.py namespace:=a200_0000

If you want to see nav2 and the nav2 map for the robot run this command: 

ros2 launch clearpath_viz view_navigation.launch.py namespace:=a200_0000

SLAM

To start SLAM and Nav2 set up the locker98 workspace that has all the launch files for SLAM and Nav2: 

ros2 launch locker98_tools_bringup husky.slam.launch.py setup_path:=$HOME/husky1/

Viewing the SLAM Map: 

ros2 launch clearpath_viz view_navigation.launch.py namespace:=a200_0000

Saving the SLAM map: 

ros2 run nav2_map_server map_save_cli -f path/to/map -t /a200_0651/map

Nav2 allows you to navigate through a pre created map and go to different locations. To launch this first start the localization: 

ros2 launch locker98_tools_bringup husky.localization.launch.py setup_path:=$HOME/husky1/ map:=$HOME/husky1/rhodes1.yaml

Then launch Nav2 

ros2 launch locker98_tools_bringup husky.nav2.launch.py setup_path:=$HOME/husky1/

Finally, you can run Rviz to see the nav2 map and send nav2 goals 

ros2 launch clearpath_viz view_navigation.launch.py namespace:=a200_0000

Discovery

If you are having trouble with the Husky being discovered by the laptop make sure all the hostname's and ip's are set and in /etc/hosts. Use this page for setting up discovery server correctly.

Updating robot.yaml

Every time you update the robot.yaml or other settings on the Husky A200 you have to restart robot or run sudo systemctl restart clearpath-robot.service to restart the Clearpath daemon and create the new configuration files. These files are usually found in /etc/clearpath and there is some documentation on this here