Manual

Visualisation
The turtlebot4_viz package contains launch files and configurations for viewing the robot in
Rviz2, and viewing the diagnostics.
Launch files:
● View Diagnostics: Launches rqt_robot_monitor to view diagnostic data.
● View Model: Launches rviz2. Used to view the model and sensor data.
● View Robot: Launches rviz2. Used to view the robot while navigating.
TurtleBot 4 Simulator
The turtlebot4_simulator metapackage contains packages used to simulate the TurtleBot 4 in
Ignition Gazebo.
Installation
Source code is available here.
Note
The turtlebot4_simulator metapackage can be installed on a PC running Ubuntu Desktop 20.04
with ROS2 Galactic.
Dev Tools
sudo apt install -y \
python3-colcon-common-extensions \
python3-rosdep \
python3-vcstool
Ignition Edifice
Ignition Edifice must be installed:
sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs`
main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install ignition-edifice