CLEARPATH HUSKY - Orientation References; Pinout References

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Orientation References
The reference frame used by all Clearpath Robotics ground vehicles is based on ISO 8855, and
is shown in Figure 2. Husky is displayed from the front. 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.
Pinout References
Husky provides a female DE-9 connector for communication with a host device. The pinout of
this connector is shown in Figure 3.
Pin
Name
Dir
Description
2
RX
IN
Data from Platform
3
TX
OUT
Data to Platform
5
GND
N/A
Common Ground
x
y
z
roll
pitch
yaw
Figure 2: Husky Reference Frame
Figure 3: Husky DE9 Pinout