Turtlebot4 Setup

Setup scripts and tools for the TurtleBot 4 Raspberry Pi.

Visit the TurtleBot 4 User Manual for more details.

Make sure your Create® 3 is updated to the I.*.* firmware; older versions of the firmware are not compatible with ROS 2 Jazzy.

Create an image manually

Follow these instructions if you wish to create a Turtlebot4 image manually.

Create an Ubuntu Image

First install the Raspberry Pi Imager.

• Insert your SD card into your PC and run the Raspberry Pi Imager. Follow the instructions and install Ubuntu 24.04 Server (64-bit) onto the SD card.
• Ensure your Raspberry Pi 4 is not powered before inserting the flashed SD card.
• You can set up the Raspberry Pi by either connecting it to your network via Ethernet or by using a keyboard and HDMI monitor via a micro HDMI cable.

Ethernet Setup

• Connect the Raspberry Pi to your Network with an Ethernet cable.
• Boot the Raspberry Pi.
• Find the Raspberry Pi’s IP using your router’s portal.
• SSH into the Raspberry Pi using the IP address.

ssh ubuntu@xxx.xxx.xxx.xxx

• The default login is ubuntu and password is ubuntu. You will be prompted to change your password.

HDMI Setup

• Connect a keyboard to the Raspberry Pi via USB.
• Connect a monitor to the Raspberry Pi via the HDMI0 port.
• Boot the Raspberry Pi.
• The default login is ubuntu and password is ubuntu. You will be prompted to change your password.

Manually configure Wi-Fi

Once you are logged into the Raspberry Pi, configure the Wi-Fi:

sudo nano /etc/netplan/50-cloud-init.yaml

Add the following lines:

wifis:
    wlan0:
        optional: true
        access-points:
            "YOUR_WIFI_SSID":
                password: "YOUR_WIFI_PASSWORD"
        dhcp4: true

Note: Ensure that wifis: is aligned with the existing ethernets: line. All indentations should be 4 spaces. Do not use tabs.

• Reboot the Raspberry Pi. It should now be connected to your Wi-Fi.
• Find the Raspberry Pi’s IP using your router’s portal.
• SSH into the Raspberry Pi using the IP address.

ssh ubuntu@xxx.xxx.xxx.xxx

Download and run the setup script

wget -qO - https://raw.githubusercontent.com/turtlebot/turtlebot4_setup/jazzy/scripts/turtlebot4_setup.sh | bash

The script will automatically install ROS 2 Jazzy, TurtleBot 4 packages, and other important apt packages. It will also configure the RPi4 to work in a TurtleBot 4. Once complete, the RPi4 should be rebooted with sudo reboot. Then, run turtlebot4-setup to configure the robot with the setup tool.

Changelog for package turtlebot4_setup

2.0.2 (2024-10-23)

• Add e2fsck to SD-flasher script
• Bump default version numbers
• Fix default hostname to match released SD card images
• Append [p2]{.title-ref} for [mmcblk]{.title-ref} devices, but just [2]{.title-ref} for [sd*]{.title-ref} devices when expanding the last partition
• Contributors: Chris Iverach-Brereton

2.0.1 (2024-10-04)

• Add a copy of the boot/firmware files to /etc/turtlebot for reference in case users modify these and want a clean, offline copy for reference
• Add ROBOT_SETUP to setup.bash
• Add growpart & resize2fs commands to the SD card-flashing script to expand the partition to use up the whole SD card
• Add socat as a package dependency instead of an ad-hoc post-install package
• Add MOTD file with the Turtlebot4 logotype
• Contributors: Chris Iverach-Brereton

2.0.0 (2024-09-28)

• Initial Jazzy implementation
  • Add a note about firmware compatibility to the readme
  • Add exception handling to the file i/o so the node doesn't just crash if we're missing a file
  • Add improved exception handling to the wifi settings parser
  • Update CI
  • Properly escape all `` characters in stylized titles, add translation & link to generator page in comments
  • Add copyright & contribution notices, fix up code formatting, import ordering. Disable linting for some specific lines where appropriate
  • Add XML namespaces & version to cyclone DDS config
  • Omit XML linting (for now); it's consistently timing out and failing
  • Code formatting fixes
  • Add exception handling to the file preview
  • Add an option to force the Create3 settings to be reapplied, even if we haven't changed anything else. Always apply the _do_not_use namespace, as we're universally using the republisher now
  • Remove superfluous concatenation
  • Enable testing packages for CI
  • Disable checks on two lines with long format strings
  • Add exception handling for install & uninstall
  • Add an error prompt to show errors during installation
  • Handle KeyErrors separately
  • Add newline to end of file
  • Fix indentation
  • [''.format]{.title-ref} -> [f'']{.title-ref}
  • Update the default system file, print the keys instead of the enums
  • Add a [__str__]{.title-ref} function to the relevant classes
• Disable DHCP4 on the built-in ethernet interface, make it non-optional
• Change the post-install chrony file command from mv to cp
• Only copy if the file exists
• Initial Jazzy implementation (#15)
• Contributors: Chris Iverach-Brereton

1.0.4 (2024-07-02)

• Multi-robot discovery server support ([#11 <https://github.com/turtlebot/turtlebot4_setup/issues/11>]{.title-ref})
  • Add discovery server ID
  • Switch from xml super client to envar
  • Don't look for an ntp server on create3
  • Adjust create3 discovery server envar for server_id
  • Get feedback from the curl command to abort the apply if the create3 is not accessible
  • Push ntp config to create3, pointing it at the pi
  • Write discovery.sh fresh each time for robustness
  • Insert missing exports when writing setup.bash
  • Update script for server ID
  • Enforce a local server in discovery server for the create3 and support an offboard server for pi only
  • Give the create3 a hidden namespace to prepare for republishing
  • Put environment variables in quotes to handle multiple discovery servers
  • Make Super Client only apply to user terminals
  • Fix error when setting Offboard Discovery Server IP to blank
  • Remove IP Routing from script to set up discovery server on the user computer, no longer needed due to the republisher, includes file/service cleanup
  • Force compares as string to handle boolean settings correctly
  • Ensure that usb0 and wlan0 networks are up before either turtlebot4 service is started and use only NetworkManager to speed up boot
  • ipv4 forwarding is no longer required
  • Add create3 rmw profile for discovery server
  • git clone no longer necessary
  • Update discovery server user pc config script to accept any number of discovery servers
  • Added missing exec dependencies
  • Ensure that the chrony file always gets overwritten
• Update username for github issue asignment ([#10 <https://github.com/turtlebot/turtlebot4_setup/issues/10>]{.title-ref})
• Updated issue templates to forms and redirected troubleshooting to turtlebot4 repo ([#9 <https://github.com/turtlebot/turtlebot4_setup/issues/9>]{.title-ref})
• Contributors: Hilary Luo

1.0.3 (2023-11-08)

• Cleanup <<https://github.com/turtlebot/turtlebot4_setup/issues/7>>
• Remove scripts that should not be used in Humble
• Update create_update.sh to reference Humble minimum version
• Updated README
• Updated turtlebot4_setup.sh script
• Fixed setting robot model
• Contributors: Hilary Luo, Roni Kreinin

1.0.2 (2023-03-01)

• Fixed Discovery Server IP
• Updated default configs
• Contributors: Roni Kreinin

1.0.1 (2023-02-28)

• Fixed script install path
• Contributors: Roni Kreinin

1.0.0 (2023-02-24)

• turtlebot4_setup tool
• RPI config updates
• Discovery server files
• Contributors: Roni Kreinin

0.1.3 (2022-09-27)

• Merge pull request #2 from turtlebot/roni-kreinin/domain_id v0.1.3
• Added webserver service
• Added argparser to install.py Removed namespacing for now
• Added 'ros_config' script for setting ROS_DOMAIN_ID, namespace, and RMW_IMPLEMENTATION
• Contributors: Roni Kreinin, roni-kreinin

0.1.2 (2022-06-14)

• Added chrony Updated wifi script
• Updated dependencies Move swap_on and swap_off to /usr/local/bin
• Fixed comment
• Updated Create 3 curl commands Move wifi and create update scripts to /usr/local/bin
• Updated oakd branch
• Update README.md
• Moved contents to root folder Updated oakd script to work for both pro and lite Updated turtlebot4_setup script Updated wifi script to allow the create 3 to be set up through the pi Added create 3 firmware flash scripts
• Update README.md
• Updated robot_upstart repo
• Added swap memory scripts when more RAM is needed to build packages
• Updated README
• Initial commit
• Contributors: Roni Kreinin, roni-kreinin