User USB-C Ports 92
Power Budget 92
Driving your TurtleBot 4 95
Keyboard Teleoperation 95
Joystick Teleoperation 96
Command Velocity 97
Create® 3 Actions 97
Creating your first node (C++) 98
Create a workspace 98
Create a package and node 98
Write your node 98
Add your dependencies 99
Create a class 100
Subscribe to the Create® 3 interface buttons 101
Test Create® 3 Button 1 102
Create a lightring publisher 103
Publish the lightring command with a button press 107
Toggle the lightring 108
Your first C++ Node 109
Creating your first node (Python) 113
Create a workspace 113
Create a package and node 113
Write your node 113
Add your dependencies 114
Create a class 114
Subscribe to the Create® 3 interface buttons 115
Test Create® 3 Button 1 116
Create a lightring publisher 118
Publish the lightring command with a button press 121
Toggle the lightring 121
Your first Python Node 123
Generating a map 126
Launch SLAM 126
Launch Rviz2 126
Drive the TurtleBot 4 127
Save the map 127
View the map 128
Navigation 128
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