Clearpath Husky
Onboard Equipment
- MicroStrain 3DM GX3-25
- Point Grey Bumblebee BB2 Stereo Camera
- NovAtel SMART6-L 2 cm L1/L2 GPS unit
- Axis P5512e PTZ Dome Camera
- SICK LMS511 LIDAR
- Asus Wi-Fi Router
- Mini-Itx computer
Network Configuration
| Parameter | Robot |
|---|---|
| Router IP | 192.168.1.10 |
| Login | * |
| 2.4GHz SSID | PLM_Husky |
| 5.0GHz SSID | PLM_HUSKY_5G |
| Password | * |
| Onboard computer IP | 192.168.1.11 |
| Onboard computer Hostname | cpr-plm01-husky |
| Onboard computer login | * |
| Axis camera IP | 192.168.1.14 |
| Axis PTZ camera Login | * |
| SICK Lidar IP | 192.168.1.14 |
* Talk to Andre about this
Spare Parts
There isn't much available to us in terms of spare parts. The storage cabinets have a few spare fuses at different ratings. DO NOT change the fuse rating (5A) on the 5V, 12V and 24V rails. Theses fuses are accessible in the fuse panel in the battery compartment. The higher amp fuses are meant to be placed in line with high loads connected directly to the battery.
Custom modifications by Clearpath
To supply power to the Kinova Mico Arm, Clearpath added a relay that closes once the onboard DC/DC converters power up. The relay connects the arm directly to the battery.
Custom modificatons by MRASL
In order to supply power to a Microsoft Kinect 2 during S.R. Manikandasriram's mapping project, an extra isolated 12V rail was required. On the inside of the husky you will find a Pololu D24V150F12 taped to the side. It has it's own 5A fuse isolated from the rest of the power rails.
Damage
The Husky has sustained damage to its Asus router, do not use the third port as some of the wiring is crooked in the ethernet jack. Be careful when operating the Husky while tethered.