TurtleBot 4 Desktop

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

Installation

Source code is available here.

Note

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

Debian package

  • To install the metapackage through apt:

    sudo apt update
sudo apt install ros-galactic-turtlebot4-desktop

  • To install the metapackage through apt:

    sudo apt update
sudo apt install ros-humble-turtlebot4-desktop

Source installation

  • 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

  • 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

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