Turtlebot4 User Manual

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 4 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.

Table of Contents

• Overview
  • Features
  • Resources
• Setup
  • Basic Setup
  • Networking
  • Simple Discovery
  • Discovery Server
• Software
  • Overview
  • TurtleBot 4 Common
  • TurtleBot 4 Robot
  • TurtleBot 4 Simulator
  • TurtleBot 4 Desktop
  • TurtleBot 4 Setup
  • Create® 3
  • Sensors
  • Rviz2
  • Simulation
• Mechanical
  • TurtleBot 4
  • TurtleBot 4 Lite
  • Payloads Over 9kg
• Electrical
  • Create® 3
  • Raspberry Pi 4B
  • User Interface PCBA
  • Power Budget
• Tutorials
  • Driving your TurtleBot 4
  • Creating your first node (C++)
  • Creating your first node (Python)
  • Generating a map
  • Navigation
  • TurtleBot 4 Navigator
  • Multiple robots
• Troubleshooting
  • Diagnostics
  • ROS 2 Tests
  • FAQ
• Changelogs
  • TurtleBot 4 Galactic
  • TurtleBot 4 Humble