Manual

○ description: Enable or disable motor stop.
● /robot_power: irobot_create_msgs/srv/RobotPower
○ description: Power off the robot.
Action Clients:
● /dock: irobot_create_msgs/action/DockServo
○ description: Command the robot to dock into its charging station.
● /wall_follow: irobot_create_msgs/action/WallFollow
○ description: Command the robot to wall follow on left or right side using bump
and IR sensors.
● /undock: irobot_create_msgs/action/Undock
○ description: Command the robot to undock from its charging station.
Functions
The node has a set of static functions that can be used either with a button or through the
display menu.
Currently, the supported functions are:
● Dock: Call the /dock action.
● Undock: Call the /undock action.
● Wall Follow Left: Call the /wall_follow action with direction FOLLOW_LEFT and a
duration of 10 seconds.
● Wall Follow Right: Call the /wall_follow action with direction FOLLOW_RIGHT and a
duration of 10 seconds.
● Power: Call the /robot_power service and power off the robot.
● EStop: Call the /e_stop service and toggle EStop state.
The TurtleBot 4 also supports the following menu functions:
● Scroll Up: Scroll menu up.
● Scroll Down: Scroll menu down.
● Back: Exit message screen or return to first menu entry.
● Select: Select currently highlighted menu entry.
● Help: Print help statement.
Configuration
This node can be configured using a parameter .yaml file. The default robot parameters can be
found here.
Parameters: