Note
The value for each GPIO device is the GPIO number, NOT the pin number.
Robot Upstart
The robot uses the
package to install the bringup launch files as a background
process that launches when the robot starts. The launch files are located under the
turtlebot4_bringup
package.
To check if the TurtleBot 4 service is running, use this command on the Raspberry Pi:
systemctl |
grep
turtlebot4
If the service is active, the CLI will echo
turtlebot4.service loaded active running "bringup
turtlebot4"
.
To read the most recent logs from the service, call:
sudo
journalctl -u turtlebot4 -r
To stop the service, call:
sudo
systemctl stop turtlebot4.service
This will kill all of the nodes launched by the launch file.
Note
The service will automatically start again on reboot. To fully disable the service, uninstall the job.
To start the service again, call:
sudo
systemctl start turtlebot4.service
The launch files are
installed
on the TurtleBot 4 with this command:
ros2 run robot_upstart install turtlebot4_bringup/launch/standard.launch.py
--job
turtlebot4 --rmw
rmw_cyclonedds_cpp
--rm
w_config /etc/cyclonedds_rpi.xml
and on the TurtleBot 4 Lite with this command:
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...
