CLEARPATH Turtlebot4 User Manual page 49

ROS Tests
The ROS tests use ROS topics and actions to test various system functionality. Test results are
saved to ~/turtlebot4_test_results/Y_m_d-H_M_S
the test. A rosbag is also recorded for the duration of the test and saved to the same location.
Currently supported tests:
● Light Ring: Test the Create® 3 light ring
● Create® 3 Button: Test the Create® 3 buttons
● User LED: Test the HMI LEDs (TurtleBot 4 model only)
● User Button: Test the HMI buttons (TurtleBot 4 model only)
● Display: Test the HMI display (TurtleBot 4 model only)
● Dock: Test the robots ability to undock and dock.
Running the tests:
ros2 run turtlebot4_tests ros_tests
This will launch a CLI menu where the different tests can be run.
Enter the index of the test and hit enter to start the test. Some tests will run automatically while
others require user input.
where Y_m_d-H_M_S is the date and time of