CLEARPATH Turtlebot4 - Page 47

ros2 run robot_upstart install turtlebot4_bringup/launch/lite.launch.py --job turtlebot4 --rmw
rmw_cyclonedds_cpp --rmw_config /etc/cyclonedds_rpi.xml
To uninstall, use this command:
ros2 run robot_upstart uninstall turtlebot4
Once uninstalled, the launch file will no longer be launched on boot.
Bringup
The turtlebot4_bringup package contains the launch and configuration files to run the robots
software.
Launch files:
● Joy Teleop: Launches nodes to enable the bluetooth controller.
● OAKD: Launches the OAK-D nodes.
● RPLIDAR: Launches the RPLIDAR node.
● Robot: Launches the TurtleBot 4 nodes.
● Lite: Launches all necessary nodes for the TurtleBot 4 Lite.
● Standard: Launches all necessary nodes for the TurtleBot 4.
Config files:
● TurtleBot 4 Controller: Configurations for the TurtleBot 4 controller.
● TurtleBot 4: Configurations for the turtlebot4_node and turtlebot4_base_node.
Diagnostics
The turtlebot4_diagnostics packages contains the source code and launch files for the TurtleBot
4 diagnostics updater.
Launch files:
● Diagnostics: Launches the turtlebot4 diagnostics updater and the diagnostic aggregator
node.
Diagnostics Updater
The diagnostics updater is a Python3 node that runs on the robot. It subscribes to diagnostic
topics records statistics specific to each topic. The diagnostic data is viewable with
rqt_robot_monitor.