TurtleBot 4 Jazzy

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

v2.0.0

OS: Ubuntu Server 24.04.5 LTS

ROS: Jazzy

Create® 3 Firmware: I.0.0

General

  • Due to technical limitations, the Create3 firmware only supports FastRTPS or CycloneDDS; changing RMW implementations requires installing the correct firwmare version on the Create3
  • Updated install.py to support Jazzy
  • Use create3_republisher by default to expose base platform topics from the RPi4
  • ROS Control changes to use TwistStamped messages for velocity control instead of Twist
  • Renamed ignition and ign packages & launch files to use preferred gz nomenclature

TurtleBot 4 Packages

Package Version Changes
turtlebot4_base 2.0.1 -
turtlebot4_bringup 2.0.1
  • namespacing support
turtlebot4_description 2.0.1 -
turtlebot4_diagnostics 2.0.1 -
turtlebot4_msgs 2.0.1 -
turtlebot4_navigation 2.0.1
  • Update SLAM, Nav2 to use stamped messages for velocity commands
  • Update config files to use new formatting introduced in Jazzy
  • Use MPPIController plugin instead of DWMLocalPlanner by default
turtlebot4_node 2.0.1
  • Block wall-follow actions from being executed while the robot is docked
turtlebot4_robot 2.0.1 -
turtlebot4_tests 2.0.1 -