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.
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
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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
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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
- View Diagnostics: Launches
-
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
- View Diagnostics: Launches