TurtleBot 4 Desktop

The turtlebot4_desktop metapackage contains packages used for visualising and interfacing with the TurtleBot 4 from a PC.

Source code is available here.

Installation

This package is installed when following the user computer setup instructions.

Debian package

Note

The turtlebot4_desktop metapackage can be installed on a PC running Ubuntu Desktop 20.04 with ROS 2 Galactic.

To install the metapackage through apt:
```
sudo apt update
sudo apt install ros-galactic-turtlebot4-desktop
```
Note

The turtlebot4_desktop metapackage can be installed on a PC running Ubuntu Desktop 22.04 with ROS 2 Humble.

To install the metapackage through apt:
```
sudo apt update
sudo apt install ros-humble-turtlebot4-desktop
```

Source installation

Note

Source installation is an alternative to the debian package and should only be used if the debian package cannot be used or if modifications are being made to the source code.

To manually install this metapackage from source, clone the git repository:
```
cd ~/turtlebot4_ws/src
git clone https://github.com/turtlebot/turtlebot4_desktop.git -b galactic
```
Install dependencies:
```
cd ~/turtlebot4_ws
rosdep install --from-path src -yi
```
Build the packages:
```
source /opt/ros/galactic/setup.bash
colcon build --symlink-install
```
Next, the workspace must be sourced by running source ~/turtlebot4_ws/install/setup.bash in the terminal or by adding that command in the .bashrc file and sourcing the .bashrc file.
To manually install this metapackage from source, clone the git repository:
```
cd ~/turtlebot4_ws/src
git clone https://github.com/turtlebot/turtlebot4_desktop.git -b humble
```
Install dependencies:
```
cd ~/turtlebot4_ws
rosdep install --from-path src -yi
```
Build the packages:
```
source /opt/ros/humble/setup.bash
colcon build --symlink-install
```
Next, the workspace must be sourced by running source ~/turtlebot4_ws/install/setup.bash in the terminal or by adding that command in the .bashrc file and sourcing the .bashrc file.

Visualisation

The turtlebot4_viz package contains launch files and configurations for viewing the robot in Rviz2, and viewing the diagnostics.

Launch files:
- View Diagnostics: Launches rqt_robot_monitor to view diagnostic data.
- View Model: Launches rviz2. Used to view the model and sensor data.
- View Robot: Launches rviz2. Used to view the robot while navigating.
Viewing the robot while mapping:
```
ros2 launch turtlebot4_viz view_robot.launch.py
```
Viewing diagnostics:
```
ros2 launch turtlebot4_viz view_diagnostics.launch.py
```
Launch files:
- View Diagnostics: Launches rqt_robot_monitor to view diagnostic data.
- View Model: Launches rviz2. Used to view the model and sensor data.
- View Robot: Launches rviz2. Used to view the robot while navigating.
Viewing the robot while mapping:
```
ros2 launch turtlebot4_viz view_robot.launch.py
```
Viewing diagnostics:
```
ros2 launch turtlebot4_viz view_diagnostics.launch.py
```
If your robot is using a namespace, use it as a launch argument:
```
ros2 launch turtlebot4_viz view_model.launch.py namespace:=/my_robot_namespace
```