Changes to support Boxer V2.5 (#105)

* First draft of Boxer V2.5 updates

Author: jhiggins-cpr

docs/robots/indoor_robots/boxer/integration_boxer.mdx

@@ -55,7 +55,7 @@ Contact [Support](#support) if you need more information.
 Ensure that the Boxer is shut off and the circuit breaker is turned to the _off_ position before performing any electrical work on the Boxer.
 
 The Boxer is equipped with an attachment interface that consists of a Power-over-Ethernet (PoE) RJ45 bulkhead connector, a USB Type-A bulkhead connector, and a 37-position panel receptacle and mated plug.
-To connect with the Boxer attachment interface see Section 10 of the [OTTO 100 V2.4 Operation and Maintenance Manual](https://help.ottomotors.com/docs/files/53683025/99909709/1/1606232510624/OMM-000094-Operation+and+Maintenance+Manual+OTTO+100+V2.4_A.pdf).
+To connect with the Boxer attachment interface see Section 10 of the [OTTO 100 V2.5 Operation and Maintenance Manual](https://docs.ottomotors.com/PDFs/100-v2.5-OMM.pdf).
 
 To add wires to the 37-position connector for you application, follow the TE Connectivity documentation for [connector 206305-1](https://www.te.com/usa-en/product-206305-1.html) to use appropriate crimp pins.
 Note that the 37-position connector will come pre-populated from Clearpath Robotics with 2 wires.

docs/robots/indoor_robots/boxer/tutorials_boxer.mdx

@@ -23,15 +23,15 @@ import Support from "/components/support.mdx";
 
 :::caution
 
-This guide is for the Boxer 2.4, released in November 2021. The Boxer 2.4 is not compatible with the older Boxer.
-Owners of previous-generation Boxers should refer to the documentation [here](http://www.clearpathrobotics.com/assets/guides/kinetic/boxer/).
+This guide is for the Boxer V2.4 (released in November 2021) and V2.5 (released in May 2023). Boxer V2.4 and V2.5 are not compatible with the older Boxer (V2.2).
+Owners of previous-generation (V2.2) Boxers should refer to the documentation [here](http://www.clearpathrobotics.com/assets/guides/kinetic/boxer/).
 
 :::
 
 :::note
 
 OTTO Motors and Clearpath Robotics operate under the same parent company.
-Boxer 2.4 is a collaboration between the teams at OTTO Motors and Clearpath Robotics.
+Boxer V2.4 and V2.5 are a collaboration between the teams at OTTO Motors and Clearpath Robotics.
 
 :::
 
@@ -81,7 +81,7 @@ The following terms are used throughout this guide:
 
 ### Differences from OTTO 100
 
-The most obvious difference between OTTO 100 and Boxer 2.4 is that Boxer has been painted black with a yellow
+The most obvious difference between OTTO 100 and Boxer V2.4/V2.5 is that Boxer has been painted black with a yellow
 stripe on the sides. This change is purely cosmetic, and is to keep the Boxer visually distinct.
 
 Mechanically, the top deck of the Boxer has a slightly thicker, heavier top-plate with a different arrangement of
@@ -366,7 +366,7 @@ Boxer is normally equipped with a combination Wi-Fi + Bluetooth module.
 If this is your first unboxing, ensure that Boxer's wireless antennae are firmly screwed on to the chassis.
 Boxer is equipped with a Backpack Computer mounted to the top of the Base Unit. The Base Unit is
 also equipped with an internal computer. This section explains how to configure the networking for the Backpack Computer only. For
-instructions on connecting the Base Unit's computer to a network, refer to the [OTTO 100 Documentation](https://help.ottomotors.com).
+instructions on connecting the Base Unit's computer to a network, refer to the [OTTO 100 Documentation](https://docs.ottomotors.com).
 
 #### Enabling the OTTO App
 
@@ -376,7 +376,7 @@ Configure your laptop to have a static IP address on the 10.255.255.0/16 subnet,
 
 Open a web browser and navigate to http://10.255.255.1:8090. You will be promted to enter your network credentials.
 
-Refer to [OTTO Motors' documentation](https://help.ottomotors.com/latest/commissioning/connecting-a-robot-to-the-network)
+Refer to [OTTO Motors' documentation](https://docs.ottomotors.com/en/30495-30526-connecting-a-robot-to-a-network.html)
 for more details on configuring the Base Unit's networking.
 
 #### First Connection
@@ -770,7 +770,7 @@ For details on updating Boxer software or firmware, refer to [Software Maintenan
 
 Boxer includes the latest autonomy software from OTTO, including [Fleet Manager](https://ottomotors.com/fleet-manager).
 
-Please refer to [OTTO Motors' documentation](https://help.ottomotors.com) and the OTTO 100 user manual
+Please refer to [OTTO Motors' documentation](https://docs.ottomotors.com) and the OTTO 100 user manual
 for details on how to use OTTO's advanced autonomy software
 
 :::
@@ -987,11 +987,11 @@ The details of each test are shown below.
 
   This test also the robot's model is loaded into the `robot_description` ROS parameter.
 
-- **E-Stop Test**
+- **Emergency Stop Test**
 
-  The **E-Stop Test** checks that the robot's E-Stop is working properly.
+  The **Emergency Stop Test** checks that the robot's emergency stop is working properly.
 
-  This test subscribes to the `/platform/emergency_stop` ROS topic and checks that when the E-Stop is manually engaged and disengaged by the user, the E-Stop states are correctly reported on the `/platform/emergency_stop` ROS topic.
+  This test subscribes to the `/platform/emergency_stop` ROS topic and checks that when the emergency stop is manually engaged and disengaged by the user, the emergency stop states are correctly reported on the `/platform/emergency_stop` ROS topic.
 
 - **Rotate Test**
 

docs/robots/indoor_robots/boxer/user_manual_boxer.mdx

@@ -12,14 +12,25 @@ import ComponentUsingRos from "/components/using_ros.mdx";
 import ComponentCommonSafeWorkProcedures from "/components/common_safe_work_procedures.mdx";
 import ComponentSafetyWarning from "/components/safety_warning.mdx";
 
+import Tabs from "@theme/Tabs";
+import TabItem from "@theme/TabItem";
+
 <ComponentIntroductionBoxer />
 
 ## Introduction
 
 Boxer is a large indoor mobile robot for prototyping and development of industrial applications.
-Adapted from the OTTO Motors _OTTO 100 V2.4 autonomous mobile robot (AMR)_, Boxer is programmable
+Adapted from the OTTO Motors _OTTO 100 autonomous mobile robot (AMR)_, Boxer is programmable
 and easily extensible with additional hardware.
 
+:::note
+
+Current Boxer shipments are based on OTTO 100 V2.5. Some shipments from 2021-2023 are based on
+OTTO 100 V2.4. All information in this manual applies equally to both versions except where
+otherwise noted.
+
+:::
+
 <ComponentSafetyWarning />
 
 ### Shipment Contents
@@ -37,28 +48,53 @@ If you elected to purchase standard payload modules or custom integration servic
 
 #### System Architecture
 
-Boxer is built on the OTTO 100 AMR, which provides the core locomotion, safety, and sensing cababilities, along with a ROS2 API
+Boxer is built on the OTTO 100 AMR, which provides the core locomotion, safety, and sensing capabilities, along with a ROS 2 API
 for control of the system. Boxer is typically augmented with a Backpack Computer, which allows for user software to be installed
-and executed on the system, controlling the Base Unit through the ROS2 API over a local Ethernet connection. The backpack
+and executed on the system, controlling the Base Unit through the ROS 2 API over a local Ethernet connection. The backpack
 computer also allows for control and monitoring of any additional payloads added to Boxer.
 
 #### Exterior Features
 
-Below is an overview of the Boxer robot hardware that outlines the key components that you should be aware of in order to get started with using your robot.
-
-<center>
-  <img
-    src="/img/robot_images/boxer_images/robot_boxer_3.png"
-    width="800"
-  />
-</center>
+Below is an overview of the Boxer robot hardware that outlines the key components that you should be aware of in order to get started
+with using your robot. Note that the front emergency stop button is only present on Boxer V2.5.
 
-<center>
-  <img
-    src="/img/robot_images/boxer_images/robot_boxer_4.png"
-    width="800"
-  />
-</center>
+<Tabs groupId="boxer_versions">
+  <TabItem
+    value="V24"
+    label="V2.4"
+  >
+    <center>
+      <img
+        src="/img/robot_images/boxer_images/robot_boxer_3.png"
+        width="800"
+      />
+    </center>
+    <center>
+      <img
+        src="/img/robot_images/boxer_images/robot_boxer_4.png"
+        width="800"
+      />
+    </center>
+  </TabItem>
+  <TabItem
+    value="V25"
+    label="V2.5"
+    default
+  >
+    <center>
+      <img
+        src="/img/robot_images/boxer_images/robot_boxer_v25_3.png"
+        width="800"
+      />
+    </center>
+    <center>
+      <img
+        src="/img/robot_images/boxer_images/robot_boxer_v25_4.png"
+        width="800"
+      />
+    </center>
+  </TabItem>
+</Tabs>
 
 #### Human-Machine Interface (HMI) Panel
 
@@ -67,9 +103,9 @@ The HMI has 5 elements:
 
 1.  Ethernet port
 2.  Power button
-3.  Motion Stop reset button
+3.  Emergency stop reset button
 4.  Chargeport
-5.  Motion Stop button
+5.  Rear emergency stop button
 
 <center>
   <img
@@ -78,15 +114,30 @@ The HMI has 5 elements:
   />
 </center>
 
+#### Front Emergency Stop Button
+
+In addition to the rear emergency stop button described in the HMI Panel above, Boxer 2.5 (but not Boxer 2.4)
+has a front emergency stop button, which is mounted to the right of the front safety LiDAR. Refer to
+[Emergency Stop Buttons](#boxer-stop-buttons) for additional details.
+
+<center>
+  <img
+    src="/img/robot_images/boxer_images/robot_boxer_13.jpg"
+    width="100"
+  />
+</center>
+
+<!-- TODO: add picture of front estop when available. -->
+
 #### Body Lights
 
 Boxer includes RGB LED strips around its body. These lights express system status according to the table below.
 
-| LED Pattern   | System State                                                               |
-| :------------ | :------------------------------------------------------------------------- |
-| Solid Red     | Robot is starting up                                                       |
-| Flashing Red  | Robot is E-Stopped or Safety Stopped                                       |
-| Circling Blue | Base Unit is in Manual mode, allowing it to be controlled via the ROS2 API |
+| LED Pattern   | System State                                                                |
+| :------------ | :-------------------------------------------------------------------------- |
+| Solid Red     | Robot is starting up                                                        |
+| Flashing Red  | Robot is emergency stopped or safety stopped                                |
+| Circling Blue | Base Unit is in Manual mode, allowing it to be controlled via the ROS 2 API |
 
 At present these lights are not controllable through any ROS topics.
 
@@ -176,7 +227,8 @@ Pull the robot out of the crate by hand, and then roll the robot down the wood r
 ### Base Unit Configuration
 
 Connect the Boxer to the Wi-Fi network using the steps below.
-Refer to [Connecting a Vehicle to Your Network](https://help.ottomotors.com/sw220/commissioning/connecting-a-vehicle-to-your-network) and [Connecting to an OTTO 100](https://help.ottomotors.com/sw220/commissioning/connecting-to-a-vehicle/connecting-to-an-otto-100) for more details.
+Refer to [Connecting to a robot using an Ethernet cable](https://docs.ottomotors.com/en/30495-30527-connecting-to-a-robot-using-ethernet.html) and
+[Connecting a robot to a network](https://docs.ottomotors.com/en/30495-30526-connecting-a-robot-to-a-network.html) for more details.
 
 1.  Configure a network port on your laptop with the IP address <10.255.255.200>.
 2.  Connect a network cable from the port on your laptop to the network port on the rear of the Base Unit.
@@ -308,7 +360,7 @@ To connect the Backpack Computer to a wireless network follow these steps:
 
 ### Battery Charging
 
-The system can be charged using an [OTTO 100 Manual Charger](https://help.ottomotors.com/docs/chargers/otto-100-manual-charger) or an [OTTO 100 Fast Charger](https://help.ottomotors.com/docs/chargers/otto-100-fast-charger).
+The system can be charged using an [OTTO 100 Manual Charger](https://ebikes.ca/product-info/grin-products/cycle-satiator.html) or an [OTTO 100 Fast Charger](https://docs.ottomotors.com/en/84902-86097-100-fast-charger.html).
 Details for use and installation are provided in the linked User Manuals.
 
 Only use the OTTO 100 Manual Charger or OTTO 100 Fast Charger provided with your Boxer.
@@ -326,7 +378,7 @@ There are several methods of operating the robot.
 This section details how to get the Robot driving around using the OTTO user interface.
 
 1.  Power on the system.
-2.  Ensure that the Motion Stop is released by pulling out the red button at the rear of the unit, and then pressing the blue Reset button.
+2.  Ensure that all emergency stop buttons are released by pulling out the red buttons at the front (V2.5 only) and rear of the unit, and then pressing the blue emergency stop Reset button.
     <center>
       <img
         src="/img/robot_images/boxer_images/robot_boxer_13.jpg"
@@ -387,7 +439,7 @@ To use the controller:
 1.  Power up the robot and connect to the OTTO App at `http://<hostname>:5000`
 2.  The system will boot up into a neutral state.
     Take the robot out of _Neutral_ by clicking the _Joystick_ icon at the bottom right of the interface.
-3.  Release the E-Stop.
+3.  Release all emergency stop buttons and press the emergency stop reset button.
 4.  Press the PS button on the controller to sync with the robot.
     Once the blue LED on the top of the controller is solid, the Robot is paired and ready to move.
     Hold the L1 trigger button to engage the enable switch.
@@ -496,28 +548,28 @@ Operating at such speeds will allow for more reaction time in the case of unexpe
 
 When the robot is operating, keep clear of the wheels.
 
-Refer to the [OTTO 100 V2.4 Operation and Maintenance Manual](https://help.ottomotors.com/docs/robots/otto-100-v2-4?preview=/53683025/99909709/OMM-000094-Operation%20and%20Maintenance%20Manual%20OTTO%20100%20V2.4_A.pdf) for further safety precautions when using self-driving vehicles.
+Refer to the [OTTO 100 V2.5 Operation and Maintenance Manual](https://docs.ottomotors.com/PDFs/100-v2.5-OMM.pdf) for further safety precautions when using self-driving vehicles.
 
-### E-Stop Button {#boxer-stop-button}
+### Emergency Stop Buttons {#boxer-stop-buttons}
 
 :::warning
 
-Ensure the E-Stop button is accessible at all times.
-Avoid mounting payloads that extend over the rear of Boxer and would occlude the E-Stop button.
+Ensure the emergency stop buttons are accessible at all times.
+Avoid mounting payloads that extend over the front or rear of Boxer and would occlude the emergency stop buttons.
 
 :::
 
-Please take time to locate the red E-Stop button on the rear-right of the system.
-The e-stop function allows a person in the physical vicinity of the robot to halt its motion and prevent re-initiation of motion.
-This e-stop system is intended for use in emergency situations.
-The e-stop system should not be used as the means of controlling robot motion during regular operation.
+Please take time to locate the red emergency stop buttons on the front (V2.5 only) and rear and of the system.
+The emergency stop function allows a person in the physical vicinity of the robot to halt its motion and prevent re-initiation of motion.
+This emergency stop system is intended for use in emergency situations.
+The emergency stop system should not be used as the means of controlling robot motion during regular operation.
 
-When the E-Stop button is pressed, it provides a secure way to stop the robot movement, but does not control power attached by the attachment panel.
-The e-stop function can be reset by pulling out the red E-Stop button until it returns to an extended position and then pressing the E-Stop Reset button.
-The robot may begin moving again immediately after the E-Stop Reset button has been pressed.
+When any emergency stop button is pressed, it provides a secure way to stop the robot movement, but does not control power attached by the attachment panel.
+The emergency stop function can be reset by pulling out all the red emergency stop buttons until they return to an extended position and then pressing the emergency stop reset button.
+The robot may begin moving again immediately after the emergency stop reset button has been pressed.
 
-When in e-stop mode, the light strip will be flashing red and Boxer will not drive.
-The commands received during e-stop mode are not buffered; Boxer will always act on the latest commands received.
+When in emergency stop mode, the light strip will be flashing red and Boxer will not drive.
+The commands received during emergency stop mode are not buffered; Boxer will always act on the latest commands received.
 This means that if the commands are stopped before the stop is released, the Boxer will not move.
 If the commands are continued, Boxer will move at the speed commanded once the stop is released.
 

docs_outdoornav_user_manual/cpr_hardware.mdx

@@ -397,9 +397,9 @@ below.
 
 For further information please refer to [these instructions](https://swiftnav.freshdesk.com/support/solutions/articles/44001907898-rtk-heading-gnss-compass-configuration%7D%7Bhttps://swiftnav.freshdesk.com/support/solutions/articles/44001907898-rtk-heading-gnss-compass-configuration).
 
-## Wireless E-Stop
+## Wireless Motion Stop
 
-Please refer to the hardware user manual of the E-Stop device for proper
+Please refer to the hardware user manual of the motion stop device for proper
 usage. A trained operator should be used to supervise navigation of the
 UGV under autonomous control at all times. The Operator should be
-familiar with the use of the Wireless emergency stop device.
+familiar with the use of the wireless motion stop device.

docs_outdoornav_user_manual/getting_started/first_time_checklist.mdx

@@ -78,7 +78,7 @@ how to set the docking location.
 
 ### ☐ Is the Navbar status icon functioning?
 
-To check if the Navbar icon is functioning, trigger the UGV's e-stop
+To check if the Navbar icon is functioning, trigger the UGV's motion stop
 and check to see if it has turned to a red icon. Clicking the icon
 will bring up the status information as well as any recent messages
 (see below).

docs_outdoornav_user_manual/overview/overview_introduction.mdx

@@ -70,7 +70,7 @@ Key features of OutdoorNav Software include:
         camera image) or user provided functions
     -   View the robot's live position and attitude on the map
     -   Display robot data such as velocity, signal strength, status
-        of the E-Stop, status of navigation system, and battery charge
+        of the motion stop, status of navigation system, and battery charge
     -   Save and export Missions
 
 -   Application Programming Interface (API)