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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