Manual

Note
The value for each GPIO device is the GPIO number, NOT the pin number.
Robot Upstart
The robot uses the robot_upstart package to install the bringup launch files as a background
process that launches when the robot starts. The launch files are located under the
turtlebot4_bringup package.
To check if the TurtleBot 4 service is running, use this command on the Raspberry Pi:
systemctl | grep turtlebot4
If the service is active, the CLI will echo turtlebot4.service loaded active running "bringup
turtlebot4".
To read the most recent logs from the service, call:
sudo journalctl -u turtlebot4 -r
To stop the service, call:
sudo systemctl stop turtlebot4.service
This will kill all of the nodes launched by the launch file.
Note
The service will automatically start again on reboot. To fully disable the service, uninstall the job.
To start the service again, call:
sudo systemctl start turtlebot4.service
The launch files are installed on the TurtleBot 4 with this command:
ros2 run robot_upstart install turtlebot4_bringup/launch/standard.launch.py --job turtlebot4 --rmw
rmw_cyclonedds_cpp --rmw_config /etc/cyclonedds_rpi.xml
and on the TurtleBot 4 Lite with this command: