CLEARPATH Turtlebot4 User Manual page 18

Quick Start
Powering on the robot
To power the robot, place it on the charging dock. The Create® 3 lightring will turn on
and the Raspberry Pi will be powered as well. To power off the robot, remove it from the
dock and press and hold the Power button on the Create® 3. The lightring will flash 3
times, and the Create® 3 will play a sound before turning off.
Installing ROS2 Galactic on your PC
Follow these instructions
Also, install useful tools with this command:
sudo apt update &&
Build-essential \
cmake \
git \
python3-colcon-common-extensions
python3-flake8 \
python3-pip \
python3-pytest-cov
python3-rosdep \
python3-setuptools
python3-vcstool \
wget
Network Configuration
ROS2 Galactic supports two middlewares:
CycloneDDS.
The Create® 3 and Raspberry Pi both use the
communicate. As a result, CycloneDDS needs to be configured on the user PC in order
to see the robot topics properly.
to install ROS2 Galactic Desktop on your PC.
sudo apt install -y \
\
\
\
CycloneDDS and FastRTPS. The default is
and
usb0 wlan0
network interfaces to