TurtleBot4 Basic Setup
ssh
to the RPi on the TB4 from your laptop:
turtlebot4
. Once on the command line, you can use turtlebot4-setup
to configure ROS2, the WiFi, etc.
/config/turtlebot4.json5
file. You can also provide this API key via your .env
- just enter it as:
OM
, then 12 alphanumeric characters (numerals and letters), adding up to 14 characters in total. They’re not case sensitive. A unique URID allows multiple robots to communicate with one another, similar to how humans use different phone numbers to help them communicate and coordinate.
Enter the URID in the “URID” field in the /config/turtlebot4.json5
file. You can also provide the URID via your .env - just enter it as:
turtlebot4-setup
docker-compose.yaml
fileROS_DOMAIN_ID
changes to the TurtleBot4. Use the turtlebot4-setup
tool to access ROS Setup:Bash Setup
and set it to the following:
192.168.1.XXX:8080/ros-config
). Change the ROS_DOMAIN_ID to 1 and enter your robot’s URID. The correct settings are:
Save
and Restart Application. Do not forget to click Restart Application, otherwise the changes will not be applied. Wait for chime (1 min) indicating Create3 reboot.
sudo docker compose -f docker-compose.yaml up -d
. The docker-compose
should be:
ros2 topic list
, your TurtleBot4 is set up and you are ready to install OM1.
Install uv
- Python package manager:
portaudio
, ffmpeg
and other dependencies:
.env
with your OM1 key, run vim .env
, “i” to insert, paste in key, “ESC”, ”:”, “wq” to write and exit.
Finally, set Default Input and Output Audio devices. Use pactl
to set your default microphone and speaker. If you get pa_context_connect() failed: Connection refused
, then start the audio daemon manually via pulseaudio --start -D
.
system_hw_test
, there are several scripts for you to interact with the TurtleBot4. For all these scripts, provide the robot’s URID, such as OM742d35Cc6634
as an argument.
OM742d35Cc6634
as an argument:
OM742d35Cc6634
as an argument:
ros2 topic list
. Topics with a pi
prefix originate from the RPi, and topics with a c3
prefix are from the Create3. If you do not see any non-prefixed topics, your Create3 is not talking correctly to the RPi.
Dockerfile
(see /system_hw_test/turtlebot_zenoh/Dockerfile
):