clearpathrobotics · tonybaltovski · Aug 13, 2026 · Jul 15, 2026 · Jul 15, 2026 · Jul 16, 2026
@@ -0,0 +1,36 @@
+{
+  // Display name shown in the VS Code "Reopen in Container" UI.
+  "name": "cpr-documentation",
+  // Prebuilt Microsoft dev container image with Node.js 22 and common tooling.
+  "image": "mcr.microsoft.com/devcontainers/javascript-node:22",
+  // Expose the Docusaurus dev/serve port to the host.
+  "forwardPorts": [3000],
+  "portsAttributes": {
+    "3000": {
+      // Friendly name and auto-open a preview when the port becomes available.
+      "label": "Docusaurus site",
+      "onAutoForward": "openPreview"
+    }
+  },
+  // node_modules/build are created as root by the base image before the
+  // container user is added; hand ownership back to `node` before installing.
+  "onCreateCommand": "sudo chown -R node:node /workspaces/cpr-documentation",
+  // Install dependencies from the lockfile and produce a production build.
+  "postCreateCommand": "npm ci && npm run build",
+  // Re-assert ownership on each start in case a volume reset root ownership.
+  "postStartCommand": "sudo chown -R node:node /workspaces/cpr-documentation",
+  // runs in VS Code's integrated terminal, which stays open for the container's lifetime, keeping the server alive
+  "postAttachCommand": "npm run serve -- --host 0.0.0.0",
+  // Run as the non-root `node` user provided by the base image.
+  "remoteUser": "node",
+  "customizations": {
+    "vscode": {
+      // Extensions auto-installed in the container for a consistent dev setup.
+      "extensions": [
+        "esbenp.prettier-vscode", // Prettier code formatter
+        "streetsidesoftware.code-spell-checker", // Spell checking for docs
+        "dbaeumer.vscode-eslint" // ESLint integration
+      ]
+    }
+  }
+}
@@ -20,7 +20,7 @@ jobs:
     steps:
     - uses: actions/checkout@v7
     - name: Use Node.js ${{ matrix.node-version }}
-      uses: actions/setup-node@v6
+      uses: actions/setup-node@v7
       with:
         node-version: ${{ matrix.node-version }}
         cache: 'npm'

@@ -1,2 +1,2 @@
 # Default all changes will request review from:
-* @jmastrangelo-cpr @jhiggins-cpr @tonybaltovski @luis-camero
+* @jmastrangelo-cpr @jhiggins-cpr @tonybaltovski @luis-camero @mibrahim-cpr
@@ -47,6 +47,23 @@ The source files in this repository are built and deployed as docs.clearpathrobo
 4.  _Full list detailed in the file `./package.json` as dependencies and devDependencies_
 
 
+<br/>
+
+## Run locally with a Dev Container (recommended)
+
+This repository provides a [Dev Container](https://containers.dev/) for a fully configured, reproducible development environment.
+
+1.  Install [Docker](https://www.docker.com/) and the _Dev Containers_ VS Code extension.
+2.  Clone this repository,
+
+        git clone https://github.com/clearpathrobotics/cpr-documentation.git
+
+3.  Open the folder in VS Code and select **Reopen in Container**.
+
+The container automatically provisions Node.js, the recommended extensions, and all project dependencies, then serves the site on port 3000.
+When using the Dev Container, you can skip the manual setup below.
+
+
 <br/>
 
 ## Steps to run this on your computer locally:

@@ -85,6 +85,12 @@ Debian drivers are automatically installed on robots as part of the
 | [Luxonis OAK-D](/docs_robots/accessories/sensors/cameras/luxonis_oakd)               | Debian  | Debian  | [depthai-ros](https://github.com/luxonis/depthai-ros.git)                       |
 | [Stereolabs Zed 2](/docs_robots/accessories/sensors/cameras/stereolabs_zed_2)        | Source  | Source  | [zed-ros2-wrapper](https://github.com/stereolabs/zed-ros2-wrapper.git)          |
 
+### Pan-Tilt Units
+
+| Sensor                                                                               | `amd64` | `arm64` | Source                                                |
+|:------------------------------------------------------------------------------------ |:--------|:--------|:----------------------------------------------------- |
+| [FLIR PTU-5](/docs/ros/config/yaml/sensors/ptu#flir-ptu)                             | Debian  | Debian  | [flir_ptu](https://github.com/ros-drivers/flir_ptu)   |
+
 </TabItem>
 <TabItem value="jazzy" label="ROS 2 Jazzy">
 
@@ -153,5 +159,11 @@ Debian drivers are automatically installed on robots as part of the
 | [Luxonis OAK-D](/docs_robots/accessories/sensors/cameras/luxonis_oakd)               | Debian  | Debian  | [depthai-ros](https://github.com/luxonis/depthai-ros.git)                       |
 | [Stereolabs Zed 2](/docs_robots/accessories/sensors/cameras/stereolabs_zed_2)        | Source  | Source  | [zed-ros2-wrapper](https://github.com/stereolabs/zed-ros2-wrapper.git)          |
 
+### Pan-Tilt Units
+
+| Sensor                                                                               | `amd64` | `arm64` | Source                                                |
+|:------------------------------------------------------------------------------------ |:--------|:--------|:----------------------------------------------------- |
+| [FLIR PTU-5](/docs/ros/config/yaml/sensors/ptu#flir-ptu)                             | Debian  | Debian  | [flir_ptu](https://github.com/ros-drivers/flir_ptu)   |
+
 </TabItem>
 </Tabs>
@@ -23,10 +23,10 @@ to the entire robot system, allowing robot builders and users to quickly and eas
 
 The `robot.yaml` is composed of five major sections:
 1. [**system**](./system.mdx) level information such as the robot's hostname, IP, and ROS middleware implementation.
-2. [**platform**](./platform/overview) level configurations such as robot specific mounting structures and parameters.
+2. [**platform**](./platform/overview.mdx) level configurations such as robot specific mounting structures and parameters.
 3. [**links**](./links.mdx) of standard URDF primitives such as boxes, cylinders, and meshes.
 4. [**mounts**](./mounts.mdx) are predefined, generic, sensor mounting structures.
-5. [**sensors**](./sensors/overview) are selected from an inventory of Clearpath supported sensors.
+5. [**sensors**](./sensors/overview.mdx) are selected from an inventory of Clearpath supported sensors.
 
 Additionally, there are two other, required parameters:
 
@@ -53,10 +53,10 @@ You can also skip to each section to get an explanation of each part of the samp
 
 1. [**Serial Number Sample**](./serial.mdx#sample)
 2. [**System Sample**](./system.mdx#sample)
-3. [**Platform Sample**](./platform/overview#sample)
+3. [**Platform Sample**](./platform/overview.mdx#sample)
 4. [**Links Sample**](./links.mdx#sample)
 5. [**Mounts Sample**](./mounts.mdx#sample)
-6. [**Sensors Sample**](./sensors/overview#sample)
+6. [**Sensors Sample**](./sensors/overview.mdx#sample)
 
 <details>
   <summary>Sample A200 YAML</summary>

@@ -66,7 +66,7 @@ drivetrain:
   control: diff_rwd
   wheels:
     front: caster
-    rear: outdoor
+    rear: indoor
 ```
   </TabItem>
 </Tabs>
@@ -83,7 +83,7 @@ Not all configurations are valid. For example, an `omni_4wd` controller must be
 | Platform |                             Control                             |                Front Wheels                |                Rear Wheels                 |
 | :------: | :-------------------------------------------------------------: | :----------------------------------------: | :----------------------------------------: |
 |   A200   |                          [`diff_4wd`]                           |         [`outdoor`] <br/> `indoor`         |         [`outdoor`] <br/> `indoor`         |
-|   A300   | [`diff_4wd`] <br/> `diff_fwd` <br/> `diff_rwd` <br/> `omni_4wd` | [`outdoor`] <br/> `mecanum` <br/> `caster` | [`outdoor`] <br/> `mecanum` <br/> `caster` |
+|   A300   | [`diff_4wd`] <br/> `diff_fwd` <br/> `diff_rwd` <br/> `omni_4wd` | [`outdoor`] <br/> `indoor` <br/> `mecanum` <br/> `caster` | [`outdoor`] <br/> `indoor` <br/> `mecanum` <br/> `caster` |
 |   J100   |                          [`diff_4wd`]                           |                [`outdoor`]                 |                [`outdoor`]                 |
 |   W200   |                          [`diff_4wd`]                           |         [`outdoor`] <br/> `tracks`         |         [`outdoor`] <br/> `tracks`         |
 |  DD100   |                          [`diff_fwd`]                           |                 [`indoor`]                 |                 [`caster`]                 |

@@ -22,4 +22,55 @@ For example, to disable the EKF node:
 ```yaml
 platform:
   enable_ekf: false
+```
+
+## Adding Sensors to the EKF
+
+By default, the EKF node (`ekf_node`) automatically fuses the platform's wheel odometry with any
+IMU or GPS-with-IMU sensor defined under [`sensors`](../sensors/overview.mdx). Rather than disabling this, additional
+sources can be added, such as an extra odometry or pose topic, use the
+[`extras.ros_parameters`](extras#ros-parameters) field in `robot.yaml` to pass in
+[`robot_localization`](https://index.ros.org/p/robot_localization) parameters directly to the
+`ekf_node`.
+
+:::caution
+
+Setting `extras.ros_parameters.ekf_node` completely replaces the automatically generated fusion
+parameters, it does not merge with them. If you add your own `ekf_node` entry, you must also
+re-declare the `odom0`/`imu0`/`pose0` inputs for any Clearpath-managed sensors you still want fused.
+
+:::
+
+For example, to additionally fuse an external pose source published on `external_pose/data`:
+
+```yaml
+platform:
+  extras:
+    ros_parameters:
+      ekf_node:
+        odom0: platform/odom
+        odom0_config: [true,  true,  false,
+                        false, false, true,
+                        true,  true,  false,
+                        false, false, true,
+                        false, false, false]
+        odom0_differential: false
+        odom0_queue_size: 10
+        imu0: sensors/imu_0/data
+        imu0_config: [false, false, false,
+                        false, false, false,
+                        false, false, false,
+                        true,  true,  true,
+                        true,  false, false]
+        imu0_differential: false
+        imu0_queue_size: 10
+        imu0_remove_gravitational_acceleration: true
+        pose0: external_pose/data
+        pose0_config: [true,  true,  true,
+                        true,  true,  true,
+                        false, false, false,
+                        false, false, false,
+                        false, false, false]
+        pose0_differential: false
+        pose0_queue_size: 10
 ```