Manual

Software
● Overview
● TurtleBot 4 Packages
● Sensors
● Rviz2
● SLAM
● Nav2
● Simulation
Overview
The TurtleBot 4 runs on Ubuntu 20.04 LTS (Focal Fossa) and currently only supports ROS2
Galactic. The TurtleBot 4 software is entirely open source under the Apache 2.0 license, and is
available on the TurtleBot Github.
There are 2 main computers that run software used by TurtleBot 4: the onboard Raspberry Pi 4,
the Create® 3 onboard processor. The user can also connect to the robot with their own PC to
visualise sensor data, configure the robot, and more. Each computer is required to run Ubuntu
20.04 with ROS2 Galactic.
TurtleBot 4 computer connections