CLEARPATH Turtlebot4 - Page 32

Build the packages:
source /opt/ros/galactic/setup.bash
colcon build --symlink-install
Description
The turtlebot4_description package contains the URDF description of the robot and the mesh
files for each component.
The description can be published with the robot_state_publisher.
Messages
The turtlebot4_msgs package contains the custom messages used on the TurtleBot 4:
● UserButton: User Button states.
● UserLed: User Led control.
● UserDisplay: User Display data.
The TurtleBot 4 can also use all of the actions, messages, and services that the iRobot®
Create® 3 platform supports:
Actions
● AudioNoteSequence: Play a given set of notes from the speaker for a given number of
iterations.
● DockServo: Command the robot to dock into its charging station.
● DriveArc: Command the robot to drive along an arc defined by radius.
● DriveDistance: Command the robot to drive a defined distance in a straight line.
● LedAnimation: Command the lights to perform specified animation.
● NavigateToPosition: Command the robot to drive to a goal odometry position using
simple approach that rotates to face goal position then translates to goal position then
optionally rotates to goal heading.
● RotateAngle: Command the robot to rotate in place a specified amount.
● Undock: Command the robot to undock from its charging station.
● WallFollow: Command the robot to wall follow on left or right side using bump and IR
sensors.
Messages
● AudioNote: Command the robot to play a note.
● AudioNoteVector: Command the robot to play a sequence of notes.