turtlebot4_setup

Turtlebot4 setup scripts

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README

Turtlebot4 Setup

Setup scripts and tools for the TurtleBot 4 Raspberry Pi.

Visit the TurtleBot 4 User Manual for more details.

Make sure your Create® 3 is updated to the I.*.* firmware; older versions of the firmware are not compatible with ROS 2 Jazzy.

Create an image manually

Follow these instructions if you wish to create a Turtlebot4 image manually.

Create an Ubuntu Image

First install the Raspberry Pi Imager.

Insert your SD card into your PC and run the Raspberry Pi Imager. Follow the instructions and install Ubuntu 24.04 Server (64-bit) onto the SD card.
Ensure your Raspberry Pi 4 is not powered before inserting the flashed SD card.
You can set up the Raspberry Pi by either connecting it to your network via Ethernet or by using a keyboard and HDMI monitor via a micro HDMI cable.

Ethernet Setup

Connect the Raspberry Pi to your Network with an Ethernet cable.
Boot the Raspberry Pi.
Find the Raspberry Pi’s IP using your router’s portal.
SSH into the Raspberry Pi using the IP address.

ssh ubuntu@xxx.xxx.xxx.xxx

The default login is ubuntu and password is ubuntu. You will be prompted to change your password.

HDMI Setup

Connect a keyboard to the Raspberry Pi via USB.
Connect a monitor to the Raspberry Pi via the HDMI0 port.
Boot the Raspberry Pi.
The default login is ubuntu and password is ubuntu. You will be prompted to change your password.

Manually configure Wi-Fi

Once you are logged into the Raspberry Pi, configure the Wi-Fi:

sudo nano /etc/netplan/50-cloud-init.yaml

Add the following lines:

wifis:
    wlan0:
        optional: true
        access-points:
            "YOUR_WIFI_SSID":
                password: "YOUR_WIFI_PASSWORD"
        dhcp4: true

Note: Ensure that wifis: is aligned with the existing ethernets: line. All indentations should be 4 spaces. Do not use tabs.

Reboot the Raspberry Pi. It should now be connected to your Wi-Fi.
Find the Raspberry Pi’s IP using your router’s portal.
SSH into the Raspberry Pi using the IP address.

ssh ubuntu@xxx.xxx.xxx.xxx

Download and run the setup script

wget -qO - https://raw.githubusercontent.com/turtlebot/turtlebot4_setup/jazzy/scripts/turtlebot4_setup.sh | bash

The script will automatically install ROS 2 Jazzy, TurtleBot 4 packages, and other important apt packages. It will also configure the RPi4 to work in a TurtleBot 4. Once complete, the RPi4 should be rebooted with sudo reboot. Then, run turtlebot4-setup to configure the robot with the setup tool.