CLEARPATH Turtlebot4 User Manual page 31

TurtleBot 4 Packages
The TurtleBot 4 has 4 main repositories for software: turtlebot4, turtlebot4_robot,
turtlebot4_desktop, and turtlebot4_simulator. Each repository is also a
contains one or more ROS2 packages.
TurtleBot 4
The turtlebot4 repository contains common packages that are used by both
turtlebot4_simulator.
Installation
Source code is available here.
Note
The turtlebot4 packages are automatically installed when either of
turtlebot4_simulator
Debian installation
Individual packages can be installed through apt:
sudo apt update
sudo apt install ros-galactic-turtlebot4-description
ros-galactic-turtlebot4-msgs
ros-galactic-turtlebot4-navigation
ros-galactic-turtlebot4-node
Source installation
To manually install this metapackage from source, clone the git repository:
cd ~/turtlebot4_ws/src
git clone https://github.com/turtlebot/turtlebot4.git
Install dependencies:
cd ~/turtlebot4_ws
vcs import src < src/turtlebot4/dependencies.repos
rosdep install --from-path src -yi
is installed.
\
\
turtlebot4_robot
\
metapackage and
turtlebot4_robot
or
and