TurtleBot 4 Galactic

TurtleBot 4 RPi4 image changelogs. Latest images are available here.

v0.1.3

OS: Ubuntu Server 20.04.5 LTS

ROS: Galactic

Create® 3 Firmware: G.3.1

General

  • Added a service to forward the Create® 3 webserver through the RPi4
    • Users can now access the Create® 3 webserver by navigating to the IP address of their TurtleBot 4 with the port 8080 on a web browser.
    • The Create® 3 does not need to be placed into AP mode to access the webserver.
    • Example: TurtleBot 4 with an IP address of 192.168.0.187.
      • Enter 192.168.0.187:8080 into your browser:
Webserver
Create® 3 webserver accessed through the RPi4
  • Updated the install.py script to use an argparser and allow for the RMW to be changed.
    • ROS_DOMAIN_ID defaults to 0, and RMW defaults to rmw_cyclonedds_cpp.
    • Example usage: install.py standard --domain 4 --rmw rmw_fastrtps_cpp
  • Added the ros_config.py script that allows users to easily reconfigure the robot's RMW and ROS_DOMAIN_ID.
    • The script prompts users for a RMW and ROS_DOMAIN_ID.
    • Once entered, the script will apply the changes to the Create® 3 and will reinstall the turtlebot4 robot upstart job with the new settings.

TurtleBot 4 Packages

Package Version Changes
turtlebot4_base 0.1.3 -
turtlebot4_bringup 0.1.3 - Added RPLIDAR Motor start/stop to default menu config
turtlebot4_description 0.1.2 -
turtlebot4_diagnostics 0.1.3 -
turtlebot4_msgs 0.1.2 -
turtlebot4_navigation 0.1.2 - Added TurtleBot 4 Navigator
- Fixed AMCL crashing issue
- Install turtlebot4_navigation python module
turtlebot4_node 0.1.2 - Added support for Empty service
- Added RPLIDAR motor start/stop service as a function option
- Added timeouts to services (defaults to 30s)
- Updated rclcpp Action api
turtlebot4_robot 0.1.3 -
turtlebot4_tests 0.1.3 -

v0.1.2

OS: Ubuntu Server 20.04.4 LTS

ROS: Galactic

Create® 3 Firmware: G.2.2

General

  • Initial public release

TurtleBot 4 Packages

Package Version Changes
turtlebot4_base 0.1.2 -
turtlebot4_bringup 0.1.2 -
turtlebot4_description 0.1.0 -
turtlebot4_diagnostics 0.1.2 -
turtlebot4_msgs 0.1.0 -
turtlebot4_navigation 0.1.0 -
turtlebot4_node 0.1.0 -
turtlebot4_robot 0.1.2 -
turtlebot4_tests 0.1.2 -