TurtleBot4 mobile robot (Standard version)

A comprehensive mobile robot for education

It includes a series of sensors, including infrared, to detect cliff, bumps, and slope as well as a 26Wh Li-ion battery to power additional sensors and accessories. In addition, all data from the embedded sensors are available as ROS subjects via the network-connected ROS 2 API. Finally, the mobile base offers a payload capacity of 9 kg and is capable of driving continuously at speeds of up to 0.306 m/s when the safety system is activated and up to 0.46 m/s in priority mode.

The mobile base is fully integrated with a Raspberry Pi 4 computer running Ubuntu 20.04, ROS2 and embedded sensor drivers, a front stereo camera, and 2D LiDAR. Additional sensors and accessories can be easily integrated into the system using an accessible powered USB hub and the top mounting plate. A programmable LCD screen allows users to display information from any ROS subject. The IP address of the platform is also displayed, which allows users to quickly connect to the robot.

Comes fully assembled with ROS 2

TurtleBot 4 will come fully assembled with ROS 2 pre-installed and configured, along with detailed user documentation, a Gazebo Ignition simulation model, demo code, and a series of tutorials, allowing users to get started with testing and SLAM right away.

Technical specifications

• EXTERNAL DIMENSIONS : 341 x 339 x 351 mm (13.4 x 13.3 x 13.8 in)
• Weight : 3.9 kg (8.6 lbs)
• Wheels (Diameter): 72 mm (0.55 in)
• Ground clearance: 4.5 mm (0.17 in)
• Max Payload : 15 kg
• Max Speed : 0.31 m/s (safe mode), 0.46 m/s (cliff sensors disabled)
• Max rotational speed : 1.90 rad/s
• Battery: 26 Wh Lithium Ion (14,4V nominal) Rechargable
• Charge time : 2.5 hrs
• Operating time : 2.5 - 4 hrs
• User power: VBAT @ 300mA, 12V @TBD mA, 5V @ 500mA 3.3V @ 250mA
• Base station for docked charging
• Raspberry Pi 4B (4 GB)
• 2D LiDAR: RPLIDAR-A1
  • 0.15-12m range ;
  • 8kHz sampling rate;
  • 360 degree angular range;
  • 1 degree angular resolution
• CAMERA: OAK-D-PRO
  • 4K RGB auto focus camera (IMX378)
  • Mono stereo camera pair (OV9282)
  • IMU, Spatial AI processor
  • IR Laser Dot Projector & Illumination LED
• 2x Front bumper zones,
• 2x Wheel encoders,
  
• 4x IR cliff sensors,
• 6x IR obstacle sensors,
• 1x Downward optical flow sensor for odometry,
• 1x 3D gyroscope,
• 1x 3D accelerometer
• 1x Battery level monitor
• 2x Drive Motors,
• 6x RGB LED Ring
• 1x Speaker,
• 5x Status LEDs
• 2x User LEDs,
• 128x64 OLED Display
• Ubuntu 20.04, ROS 2

TurtleBot 4 Standard and TurtleBot 4 Lite comparison

	TurtleBot 4 Standard	TurtleBot 4 Lite
Dimensions	341 x 339 x 351 mm	341 x 339 x 192 mm
Weight	3,9 kg	3,3 kg
Max. Speed	0,31 m/s	0,31 m/s
Max. Payload	9 kg - Default 15 kg - Custom Configuration	9 kg - Default 15 kg - Custom Configuration
Operating Time	2.5 - 4.0 hrs (load dependent)	2.5 - 4.0 hrs (load dependent)
Camera	OAK-D-PRO	OAK-D-LITE
LiDAR	RPLIDAR-A1	RPLIDAR-A1
Accessible Power & USB Ports	Yes	No
OLED display	Yes	No
Mounting Plate	Yes	No
Software	ROS 2	ROS 2
Computer	Raspberry Pi 4 B (4 Gb)	Raspberry Pi 4 B (4 Gb)

Resources for Turtlebot4 mobile robot

• Datasheet Turtlebot4 - Clearpath