Turtlebot4 Setup

Setup scripts for the TurtleBot 4 Raspberry Pi.

Install or update pre-built image

Every Turtlebot4 comes with a SD card with a pre-installed Turtlebot4 image. If you wish to install an image on your own SD card or update to a newer image, follow these instructions.

• Download the latest turtlebot4 image.

• Install the imaging tool dcfldd

sudo apt install dcfldd

• Insert your SD card into your PC and identify it:

sudo fdisk -l

• The SD card will have a name like /dev/mmcblk0 or /dev/sda

• Get the SD flash script and flash the SD card

wget https://raw.githubusercontent.com/turtlebot/turtlebot4-images/galactic/turtlebot4_setup/scripts/sd_flash.sh
bash sd_flash.sh /path/to/image

• Follow the instructions and wait for the SD card to be flashed.

• Ensure your Raspberry Pi 4 is not powered before inserting the flashed SD card.

• Follow Wi-Fi Setup to configure your Wi-Fi.

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 20.04 LTS 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

Create your workspace

• Once logged in, create a workspace.

mkdir ~/turtlebot4_ws/src -p

• Clone this repository into the src folder

cd ~/turtlebot4_ws/src
git clone https://github.com/turtlebot/turtlebot4_setup.git

Automatic Setup

• Run the turtlebot4_setup.sh script to automatically set up your turtlebot4.

Turtlebot4 Standard

cd ~/turtlebot4_ws
bash src/turtlebot4_robot/turtlebot4_setup/scripts/turtlebot4_setup.sh -m standard

Turtlebot4 Lite

cd ~/turtlebot4_ws
bash src/turtlebot4_robot/turtlebot4_setup/scripts/turtlebot4_setup.sh -m lite

• Run Wi-Fi Setup to enable the 5G Wi-Fi band.

Manual Setup

If you wish to manually setup the workspace, follow these instructions.

Install ROS2 Galactic

Follow https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html and install ros-galactic-ros-base

Install ROS tools

sudo apt update && sudo apt install -y \
  build-essential \
  cmake \
  git \
  python3-colcon-common-extensions \
  python3-flake8 \
  python3-pip \
  python3-pytest-cov \
  python3-rosdep \
  python3-setuptools \
  python3-vcstool \
  wget

Install additional packages

sudo apt install -y \
libgpiod-dev \
network-manager \
daemontools 

Install bluetooth packages if needed

sudo apt install -y \
bluez \
bluez-tools \
pi-bluetooth

Import source packages

cd ~/turtlebot4_ws
vcs import src < src/turtlebot4-images/turtlebot4_setup/turtlebot4_packages.repos

Install OAK-D camera dependencies

Follow https://github.com/luxonis/depthai-ros/tree/main#install-dependencies

Run rosdep

cd ~/turtlebot4_ws
sudo rosdep init
rosdep update
rosdep install -r --from-paths src -i -y --rosdistro galactic

Build workspace

source /opt/ros/galactic/setup.bash
cd ~/turtlebot4_ws
colcon build
source install/setup.bash

Apply udev rules

cd ~/turtlebot4_ws
sudo cp src/turtlebot4_setup/turtlebot4_setup/udev/turtlebot4.rules /etc/udev/rules.d/

Enable usb0

echo "dtoverlay=dwc2,dr_mode=peripheral" | sudo tee -a /boot/firmware/usercfg.txt
sudo sed -i '${s/$/ modules-load=dwc2,g_ether/}' /boot/firmware/cmdline.txt

Enable i2c-3 bus

echo "dtoverlay=i2c-gpio,bus=3,i2c_gpio_delay_us=1,i2c_gpio_sda=4,i2c_gpio_scl=5" | sudo tee -a /boot/firmware/usercfg.txt 

Configure CycloneDDS

echo "export CYCLONEDDS_URI='<CycloneDDS><Domain><General><NetworkInterfaceAddress>wlan0,usb0</></></></>'" | sudo tee -a ~/.bashrc

Create Turtlebot4 service to run on boot

Turtlebot4 Standard

ros2 run robot_upstart install turtlebot4_bringup/launch/standard.launch.py --job turtlebot4

Turtlebot4 Lite

ros2 run robot_upstart install turtlebot4_bringup/launch/lite.launch.py --job turtlebot4

Set up Wi-Fi

Run Wi-Fi Setup

Reboot the Raspberry Pi

sudo reboot