CLEARPATH Turtlebot4 Manual de usuario

Turtlebot4 User Manual

TurtleBot 4 Lite (left) and TurtleBot 4 (right)

TurtleBot 4 is the next-generation of the world's most popular open source robotics

platform for education and research, offering better computing power, better sensors

and a world class user experience at an affordable price point.

TurtleBot 4 comes in two models - TurtleBot 4 and TurtleBot Lite. Both are equipped

with an iRobot® Create® 3 mobile base, a powerful Raspberry Pi 4 running ROS 2,

OAK-D stereo camera, 2D LiDAR and more. All components have been seamlessly

integrated to deliver an out-of-the-box development and learning platform. Tap into the

thriving open source ROS developer community and get started learning robotics on

day one.

Features 9

TurtleBot 4 9

TurtleBot 4 Lite 11

Hardware Specifications 12

Sensors 14

RPLIDAR A1M8 14

OAK-D-Lite 14

OAK-D-Pro 15

Resources 16

Software 16

Ubuntu 16

Raspberry Pi 16

ROS2 16

TurtleBot 4 16

iRobot® Create® 3 17

Luxonis 17

SLAMTEC 17

Quick Start 17

Powering on the robot 18

Installing ROS2 Galactic on your PC 18

Network Configuration 18

WiFi Setup 19

Find the Raspberry Pi IP on your network 20

Create® 3 WiFi Setup 22

TurtleBot 4 Controller Setup 23

Updating the TurtleBot 4 24

Create® 3 24

Update over WiFi 25

Find the IP address of the Create® 3 on your WiFi network. 25

Place the robot into AP mode. 25

Update over USB-C 26

Debian packages 26

Source packages 27

Install latest Raspberry Pi image 27

Overview 29

Create® 3 29

Raspberry Pi 4 30

User PC 30

TurtleBot 4 Packages 31

TurtleBot 4 31

Installation 31

Debian installation 31

Source installation 31

Description 32

Messages 32

Actions 32

Messages 32

Services 33

Navigation 33

TurtleBot 4 Navigator 35

Node 35

Functions 36

Configuration 36

Buttons 37

Example 38

LEDs 38

Examples 39

Display 42

Menu Control 42

TurtleBot 4 Robot 43

Installation 43

Source installation 43

Base 44

GPIO Interface 44

I2C Interface 45

SSD1306 45

Configuration 45

Robot Upstart 46

Bringup 47

Diagnostics 47

Diagnostics Updater 47

Tests 48

ROS Tests 48

TurtleBot 4 Desktop 51

Installation 51

Debian installation 51

Source installation 51

Visualisation 52

TurtleBot 4 Simulator 52

Installation 52

Dev Tools 52

Ignition Edifice 52

Debian installation 53

Source installation 53

Ignition Bringup 53

Ignition GUI Plugins 54

Ignition Toolbox 55

Sensors 55

RPLIDAR A1M8 56

Connecting 56

Installing 56

Running 56

OAK-D 56

Connecting 57

Installing 57

Running 57

Create® 3 57

Cliff 57

Bumper 58

Wheeldrop 58

IR Proximity 58

Slip and Stall 58

Kidnap 58

Rviz2 58

View Model 59

View Robot 59

Rviz2 Displays 60

LaserScan 61

Camera 62

TF 63

SLAM 64

Synchronous SLAM 65

Asynchronous SLAM 65

Saving the map 66

Nav2 66

Launching Navigation 67

Launch files 67

Parameters 67

Configuration 67

Examples 67

Navigating with Rviz2 69

Simulation 69

Installing Ignition Gazebo 70

Launching Ignition Gazebo 70

TurtleBot 4 72

Attaching Accessories to the Top Integration Plate 72

Removing the Top Integration Plate 72

Making Modifications to the Top Integration Plate 73

Attaching Accessories to the Base Unit 73

Removing the PCBA 74

Removing the Create® 3 Integration Plate and Shell 75

TurtleBot 4 Lite 76

Attaching Accessories to the Base Unit 76

Removing the Create® 3 Integration Plate 77

Accessing the Raspberry Pi Computer 78

Payloads Over 9kg 79

Mechanical Modification 79

Lower payload height 79

Example 81

Software Modifications 83

Acceleration Limits 83

Velocity Limits 83

Keyboard Teleoperation 83

Joystick Teleoperation 83

Command Velocity 84

Create® 3 Actions 84

Nav2 84

Create® 3 85

Raspberry Pi 4B 86

User Interface PCBA 87

Overview 87

User I/O 87

User Power 90

Molex Picoblade 6-Pin cable assembly 91

User USB-C Ports 92

Power Budget 92

Driving your TurtleBot 4 95

Keyboard Teleoperation 95

Joystick Teleoperation 96

Command Velocity 97

Create® 3 Actions 97

Creating your first node (C++) 98

Create a workspace 98

Create a package and node 98

Write your node 98

Add your dependencies 99

Create a class 100

Subscribe to the Create® 3 interface buttons 101

Test Create® 3 Button 1 102

Create a lightring publisher 103

Publish the lightring command with a button press 107

Toggle the lightring 108

Your first C++ Node 109

Creating your first node (Python) 113

Create a workspace 113

Create a package and node 113

Write your node 113

Add your dependencies 114

Create a class 114

Subscribe to the Create® 3 interface buttons 115

Test Create® 3 Button 1 116

Create a lightring publisher 118

Publish the lightring command with a button press 121

Toggle the lightring 121

Your first Python Node 123

Generating a map 126

Launch SLAM 126

Launch Rviz2 126

Drive the TurtleBot 4 127

Save the map 127

View the map 128

Navigation 128

SLAM vs Localization 129

SLAM 129

Localization 129

Nav2 129

Launching navigation 129

Interacting with Nav2 130

2D Pose Estimate 130

Publish Point 131

Nav2 Goal 132

TurtleBot 4 Navigator 133

Navigate to Pose 133

Code breakdown 133

Initialise the node 134

Dock the robot 134

Set the initial pose 134

Wait for Nav2 135

Set the goal pose 135

Undock the robot and go to the goal pose 135

Watch navigation progress in Rviz 136

Navigate Through Poses 136

Code breakdown 136

Set goal poses 138

Navigate through the poses 138

Watch navigation progress in Rviz 138

Follow Waypoints 139

Code breakdown 139

Watch navigation progress in Rviz 140

Create Path 141

Code breakdown 142

Create your path 143

Set initial pose and clear costmaps 143

Follow the path 143

Creating a path with Rviz 144

Diagnostics 145

ROS2 Tests 147

FAQ 149

Common issues with the Raspberry Pi 4B 150

1. Access point is not visible 150

Check that the Raspberry Pi is powered 150

Check for obstructions 150

Restart the robot 151

Access the RPi over Ethernet 151

1. Waiting to connect to bluetoothd… 152

2. No default controller available 152

Common issues with the user PC 153

1. ros2: command not found 153

2. Create® 3 topics are not visible 153

Overview

Features

TurtleBot 4

The TurtleBot 4 is a ROS2-based mobile robot intended for education and research.

The TurtleBot 4 is capable of mapping its surroundings, navigation autonomously,

running AI models on its camera, and more.

It uses a Create® 3 as the base platform, and builds on it with the TurtleBot 4 shell and

User Interface (UI) board. Inside the shell sits a Raspberry Pi 4B which runs the

TurtleBot 4 software.

Raspberry Pi 4B

The UI Board offers status and user LEDs, user buttons, and a 128x64 user display.

Additionally, it exposes 4 USB 3.0 (type C) ports, as well as additional power ports and

some Raspberry Pi pins for the user.

TurtleBot 4 UI Board

On top of the UI board sits a RPLIDAR A1M8 360 degree lidar, and an OAK-D-Pro

camera. Above the sensors is the sensor tower, which allows the user to customize their

TurtleBot4 with additional sensors or payloads.

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