CLEARPATH Turtlebot4 User Manual page 10

Raspberry Pi 4B
The UI Board offers status and user LEDs, user buttons, and a 128x64 user display.
Additionally, it exposes 4 USB 3.0 (type C) ports, as well as additional power ports and
some Raspberry Pi pins for the user.
TurtleBot 4 UI Board
On top of the UI board sits a RPLIDAR A1M8 360 degree lidar, and an OAK-D-Pro
camera. Above the sensors is the sensor tower, which allows the user to customize their
TurtleBot4 with additional sensors or payloads.