Build the packages:
source
/opt/ros/galactic/setup.bash
colcon build
--symlink-install
Description
The
turtlebot4_description
package contains the URDF description of the robot and the mesh
files for each component.
The description can be published with the
robot_state_publisher
.
Messages
The
turtlebot4_msgs
package contains the custom messages used on the TurtleBot 4:
●
: User Button states.
●
: User Led control.
●
: User Display data.
The TurtleBot 4 can also use all of the actions, messages, and services that the iRobot®
Create® 3 platform supports:
Actions
●
: Play a given set of notes from the speaker for a given number of
iterations.
●
: Command the robot to dock into its charging station.
●
: Command the robot to drive along an arc defined by radius.
●
: Command the robot to drive a defined distance in a straight line.
●
: Command the lights to perform specified animation.
●
: Command the robot to drive to a goal odometry position using
simple approach that rotates to face goal position then translates to goal position then
optionally rotates to goal heading.
●
: Command the robot to rotate in place a specified amount.
●
: Command the robot to undock from its charging station.
●
: Command the robot to wall follow on left or right side using bump and IR
sensors.
Messages
●
: Command the robot to play a note.
●
: Command the robot to play a sequence of notes.
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...