CLEARPATH Turtlebot4 User Manual page 45

I2C Interface
The linux I2C drivers are used to read and write data on the I2C buses of the Raspberry Pi. The
display's SSD1306 driver is connected to the
available too.
SSD1306
The SSD1306 is a driver for OLED displays. It receives commands over a communication bus
(I2C for the TurtleBot 4) and controls how the physical display behaves. The TurtleBot 4 uses a
modified version of this
display.
Configuration
Warning
Do NOT change pin definitions if you are using the standard PCBA or do not know what you are
doing.
The turtlebot4_base_node
configuration is:
turtlebot4_base_node:
ros__parameters:
# GPIO definition for HMI. Do NOT change if you are using the standard PCBA.
gpio:
user_button_1: 13
user_button_2: 19
user_button_3: 16
user_button_4: 26
led_green_power: 17
led_green_motors: 18
led_green_comms: 27
led_green_wifi: 24
led_green_battery: 22
led_red_battery: 23
led_green_user_1: 25
led_green_user_2: 6
led_red_user_2: 12
display_reset: 2
STM32 SSD1306 driver
pin definitions can be set with ROS parameters. The default
i2c-3 device by default, but other buses are
to write pixels, shapes and characters to the