● Button: Status for a button.
● Dock: Information about the robot sensing the its dock charging station.
● HazardDetection: An hazard or obstacle detected by the robot.
● HazardDetectionVector: All the hazards and obstacles detected by the robot.
● InterfaceButtons: Status of the 3 interface buttons on the Create® robot faceplate.
● IrIntensity: Reading from an IR intensity sensor.
● IrIntensityVector: Vector of current IR intensity readings from all sensors.
● IrOpcode: Opcode detected by the robot IR receivers. Used to detect the dock and
virtual walls.
● KidnapStatus: Whether the robot has been picked up off the ground.
● LedColor: RGB values for an LED.
● LightringLeds: Command RGB values of 6 lightring lights.
● Mouse: Reading from a mouse sensor.
● SlipStatus: Whether the robot is currently slipping or not.
● StopStatus: Whether the robot is currently stopped or not.
● WheelStatus: Current/PWM readings from the robot's two wheels in addition to whether
wheels are enabled.
● WheelTicks: Reading from the robot two wheels encoders.
● WheelVels: Indication about the robot two wheels current speed.
Services
● EStop: Set system EStop on or off, cutting motor power when on and enabling motor
power when off.
● RobotPower: Power off robot.
See irobot_create_msgs for more details.
Note
When publishing or subscribing to topics, make sure that the QoS that you use matches that of
the topic.
Navigation
The turtlebot4_navigation packages contains launch and configuration files for using SLAM and
navigation on the TurtleBot 4. It also contains the TurtleBot 4 Navigator Python node.
Launch files:
● Nav Bringup: Launches navigation. Allows for launch configurations to use SLAM, Nav2,
and localization.
● SLAM Sync: Launches slam_toolbox with online synchronous mapping. Recommended
for use on a PC.
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