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.