CLEARPATH Turtlebot4 User Manual page 96

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teleop_twist_keyboard CLI
Press i to drive forward, j to rotate left, and so on. You can also adjust linear and angular
speeds on the go.
Joystick Teleoperation
If you have a TurtleBot 4 controller or have your own Bluetooth controller, you can drive the
robot with it.
First, make sure that your controller is paired and connects to the robot. If you have a TurtleBot
4 controller, press the home button and check that the controller's light turns blue. If your
controller is not paired or connecting, refer to the
Controller Setup
section.
Note
If you are using a TurtleBot 4 Lite, the Bluetooth packages will not be installed by default. To
install them, SSH into the Raspberry Pi and call
sudo bluetooth.sh
and then reboot the Pi. Then
follow the Controller Setup instructions.
Once your controller is connected, make sure that the
joy_teleop
nodes are running. These are
launched as part of the Standard and Lite launch files under turtlebot4_bringup. If it is not
running, you can run it manually by calling:
ros2 launch turtlebot4_bringup joy_teleop.launch.py

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Turtlebot 4 lite

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