User Manual

1、特征

Turtlebot4

TurtleBot 4

TurtleBot 4是一款基于ROS2的移动机器人，用于教育和研究。TurtleBot 4能够绘制周围环境、自主导航、在相机上运行AI模型等。

它使用Create®3作为基础平台，并在其上构建TurtleBot 4外壳和用户界面（UI）板。外壳内有一个Raspberry Pi 4B，它运行TurtleBot 4软件。

Raspberry Pi 4B

UI板提供状态和用户指示灯、用户按钮和128x64用户显示器。此外，它还为用户提供了4个USB 3.0（C型）端口，以及额外的电源端口和一些Raspberry Pi引脚。

TurtleBot 4 UI Board

在UI板的顶部有一个RPLIDAR A1M8 360度激光雷达和一个OAK-D-Pro相机。传感器上方是传感器塔，用户可以使用其他传感器或有效载荷定制TurtleBot4。

TurtleBot 4 Lite

TurtleBot 4 Lite是TurtleBot4的裸骨版本。它只有导航、地图和人工智能应用程序所需的组件。TurtleBot 4具有相同的Raspberry Pi 4B，位于Create®3的货舱中，以及相同的RPLIDAR A1M8。TurtleBot 4 Lite上的相机是OAK-D-Lite。其他传感器和有效载荷可以连接到Create®3面板，或放置在货舱内。

硬件规格

Feature	TurtleBot 4 Lite	TurtleBot 4
Size (L x W x H)	342 x 339 x 192 mm	342 x 339 x 351 mm
Weight	3270 g	3945 g
Base platform	iRobot® Create® 3	iRobot® Create® 3
Wheels (Diameter)	72 mm	72 mm
Ground Clearance	4.5 mm	4.5 mm
On-board Computer	Raspberry Pi 4B 4GB	Raspberry Pi 4B 4GB
Maximum linear velocity	0.31 m/s in safe mode, 0.46 m/s without safe mode	0.31 m/s in safe mode, 0.46 m/s without safe mode
Maximum angular velocity	1.90 rad/s	1.90 rad/s
Maximum payload	9 kg	9 kg
Operation time	2h 30m - 4h depending on load	2h 30m - 4h depending on load
Charging time	2h 30m	2h 30m
Bluetooth Controller	Not Included	TurtleBot 4 Controller
Lidar	RPLIDAR A1M8	RPLIDAR A1M8
Camera	OAK-D-Lite	OAK-D-Pro
User Power	VBAT @1.9A 5V @ Low current 3.3V @ Low current	VBAT @ 300 mA 12V @ 300 mA 5V @ 500 mA 3.3v @ 250 mA
USB Expansion	USB 2.0 (Type A) x2 USB 3.0 (Type A) x2	USB 2.0 (Type A) x2 USB 3.0 (Type A) x1 USB 3.0 (Type C) x4
Programmable LEDs	Create® 3 Lightring	Create® 3 Lightring User LED x2
Status LEDs	-	Power LED Motors LED WiFi LED Comms LED Battery LED
Buttons and Switches	Create® 3 User buttons x2 Create® 3 Power Button x1	Create® 3 User buttons x2 Create® 3 Power Button x1 User Buttons x4
Battery	26 Wh Lithium Ion (14.4V nominal)	26 Wh Lithium Ion (14.4V nominal)
Charging Dock	Included	Included