Manual

Launch files 67
Parameters 67
Configuration 67
Examples 67
Navigating with Rviz2 69
Simulation 69
Installing Ignition Gazebo 70
Launching Ignition Gazebo 70
TurtleBot 4 72
Attaching Accessories to the Top Integration Plate 72
Removing the Top Integration Plate 72
Making Modifications to the Top Integration Plate 73
Attaching Accessories to the Base Unit 73
Removing the PCBA 74
Removing the Create® 3 Integration Plate and Shell 75
TurtleBot 4 Lite 76
Attaching Accessories to the Base Unit 76
Removing the Create® 3 Integration Plate 77
Accessing the Raspberry Pi Computer 78
Payloads Over 9kg 79
Mechanical Modification 79
Lower payload height 79
Example 81
Software Modifications 83
Acceleration Limits 83
Velocity Limits 83
Keyboard Teleoperation 83
Joystick Teleoperation 83
Command Velocity 84
Create® 3 Actions 84
Nav2 84
Create® 3 85
Raspberry Pi 4B 86
User Interface PCBA 87
Overview 87
User I/O 87
User Power 90
Molex Picoblade 6-Pin cable assembly 91