If the WiFi module is unobstructed, try restarting the robot. Take the robot off of its dock and press and hold the Power button on the Create® 3 until it is off. Wait a few seconds and place the robot back on its dock.
If you are still unable to see the
Turtlebot4 access point, you can connect directly to the RPi using an ethernet cable. You may need a USB to Ethernet adapter for your PC.
The Raspberry Pi uses a static IP address for the ethernet interface,
192.168.185.3. You will need to configure your wired connection to use the same subnet:
Manualand set your static IP. The IP address cannot be the same as the Raspberry Pi.
You can now go to your terminal and SSH into the robot by typing:
If you are still unable to ssh into the robot and receive the error
No route to host then this may be the result of the sd card being flashed improperly. This can happen if the image wasn't extracted before flashing or if the image was flashed to a partition on the sd card. Instructions on how to flash the SD card can be found here.
If you are able to ssh into the robot then you can continue the setup instructions to connect the raspberry pi to your network.
This issue is usually a result of the bluetooth service being stopped.
To start the service again, run
sudo systemctl start bluetooth.
This error occurs if you are attempting to connect a bluetooth device to the Raspberry Pi with
sudo bluetoothctl and the
hciuart service throws errors.
To fix this, call
sudo systemctl disable hciuart and then reboot the Pi with
Once the Pi has restarted, call
sudo systemctl restart hciuart. Now you can run
sudo bluetoothctl again and the bluetooth controller should be found.
There is an automatic power-saving mode that shuts down the OAKD topics when the robot is docked. Undock your robot.
Make sure you have sourced ROS 2 Galactic:
Make sure you have sourced ROS 2 Humble:
If you are building packages from source, you will also want to source the workspace:
First, check that the Create® 3 is connected to your WiFi network. You should be able to access the Create® 3 portal by entering the Create® 3 IP address in a browser. For information on how to connect the Create® 3 to WiFi, check the Wi-Fi Setup Guide.
If it is connected to WiFi, check if you can see Create® 3 topics on the Raspberry Pi.
If topics are visible on the Raspberry Pi, ensure that your PC has the following configuration set for CycloneDDS:
<CycloneDDS> <Domain> <General> <DontRoute>true</DontRoute> </General> </Domain> </CycloneDDS>
To set this configuration automatically, add the following line to your
If you have set a
ROS_DOMAIN_ID for the Create® 3, your terminal will have to have the same ID. You can set the ID by using this command:
# with the ID.
If topics are not visible on the Raspberry Pi, you may need to restart the Create® 3 application through the portal, or reboot the robot.
The Turtlebot4 is built ontop of the Create® 3 platform which has components that can be replaced as they wear. These components can be purchased directly from iRobot at the following links.
Lithium Ion Battery
Left Wheel Module
Right Wheel Module