Diagnostic topics:
●
/battery_state
: Check battery voltage and percentage.
●
/wheel_status
: Check if wheels are enabled.
●
/dock
: Check if the robot is docked.
●
/scan
: Check the frequency of laser scans from the RPLIDAR.
●
/left/image
: Check the frequency of images from the left OAK-D camera.
●
/right/image
: Check the frequency of images from the right OAK-D camera.
●
/color/image
: Check the frequency of images from the OAK-D colour sensor.
●
/stereo/image
: Check the frequency of depth images from the OAK-D.
●
/hazard_detection
: Check for detected hazards.
●
/imu
: Check the frequency of IMU messages.
●
/mouse
: Check the frequency of Mouse messages.
Viewing diagnostics:
ros2 launch turtlebot4_viz view_diagnostics.launch.py
Diagnostics data captured with rqt_robot_monitor
Tests
The
turtlebot4_tests
packages contains the source code for the TurtleBot 4 system test scripts.
These scripts test basic functionality of the robot and are useful for troubleshooting issues.
Summary of Contents for TurtleBot 4 Lite
Page 50: ...Running the Light Ring test...
Page 61: ...Adding Displays in Rviz2...
Page 63: ...Camera image displayed in Rviz2...
Page 82: ...TurtleBot 4 Lite with a NED2 arm...
Page 147: ...Color camera diagnostics...