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
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
- 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