CLEARPATH Turtlebot4 User Manual page 37

● wifi.interface: The Wi-Fi interface being used by the computer. This is used to find the
current IP address of the computer.
● menu.entries: Set menu entries to be displayed. Each entry must be one of the support
functions.
● buttons: Set the function of Create® 3 and HMI buttons.
● controller: Set the function of TurtleBot 4 Controller buttons.
Buttons
The Buttons class in
includes the Create® 3 buttons, HMI buttons, and TurtleBot 4 Controller buttons. The node
receives button states from the /interface_buttons, /hmi/buttons, and /joy topics.
Each button can be configured to have either a single function when pressed, or two functions
by using a short or long press. This is done through configuration.
Supported buttons:
buttons:
create3_1:
create3_power:
create3_2:
hmi_1:
hmi_2:
hmi_3:
hmi_4:
controller:
a:
b:
x:
y:
up:
down:
left:
right:
l1:
l2:
l3:
r1:
r2:
r3:
share:
options:
home:
turtlebot4_node provides functionality to all buttons on the robot. This