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

The Turtlebot4 desktop metapackage can be installed as a debian package:

Ubuntu 24.04 with ROS 2 Jazzy
Ubuntu 22.04 with ROS 2 Humble
Ubuntu 20.04 with ROS 2 Galactic end-of-life, not recommended

To install the metapackage through apt:

Warning

ROS 2 Galactic is no longer supported. Please consider upgrading to a newer release
```
sudo apt install ros-galactic-turtlebot4-desktop
```

sudo apt install ros-humble-turtlebot4-desktop

sudo apt install ros-jazzy-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.

Warning

ROS 2 Galactic is no longer supported. Please consider upgrading to a newer release

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.
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 jazzy
```
Install dependencies:
```
cd ~/turtlebot4_ws
rosdep install --from-path src -yi
```
Build the packages:
```
source /opt/ros/jazzy/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.

Warning

ROS 2 Galactic is no longer supported. Please consider upgrading to a newer release

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
```
Launch files:
- View Diagnostics: Launches rqt_robot_monitor to view diagnostic data.
- View Model: Launches rviz2. Used to view the model.
- View Robot: Launches rviz2. Used to view the robot model and sensor data
- View Navigation: Launches rviz2. Used to view the robot model and sensor data while navigating. Allows setting 2D pose estimates & goal poses.
Viewing the robot while mapping:
```
ros2 launch turtlebot4_viz view_navigation.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
```