Big Deal: A TurtleBot4 Went To The Kitchen

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While it may not seem like a big deal for a ROS 2 robot to make its way to the kitchen, it is for my Raspberry Pi 5 powered TurtleBot4 and me.

I have been fighting software issues for several years off and on with the TurtleBot4 and Create3 platforms, so to finally see my “TB5-WaLI” (Wallfollower Looking for Intelligence) get off his dock and navigate to the kitchen without being distracted by any furniture or loss of localization or time sync issues or RMW crashes or maxed out processing limitations, is a big success for me and my TurtleBot4/Create3 robot.

I would love to receive folks’ thoughts on my post in the TurtleBot4 Discussion Forum including the video:

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I guess mostly everyone here can relate how much effort it needs to get to this level.

Congratrulations! Your input will be helpful to make a lots of parts more stable for daily usage!

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Hi @RobotDreams really great work. Was there any tutorial / guide you followed to get the system upgrade the turtlebot4 to Raspberry Pi 5?

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Just noticed your post - yes extensive documentation here

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Yes I noticed it a while back it was what inspired me to put together the Raspberry Pi 5 conversion instruction and steps for a Turtlebot4 robot GitHub - Mechazo11/turtlebot4_rpi5: A step by step instructions on swapping out RPI4 with RPI5 8GB version in Turtlebot4 · GitHub.

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Are you using turtlebot4_navigation at all? I have found a set of parameters that give me reliable navigation around my home - IF I do not ask anything of the TurtleBot4 while navigating. Simply issuing ``ros2 topic echo –once /battery_state`` will cause nav2 to fail.