Clearpath Robotics TurtleBot-4

Clearpath Robotics TurtleBot-4 IMR – Indoor Mobile Robot

The TurtleBot 4’s mobile robot is built on top of the iRobot® Create® 3 educational robot that provides an IMU, optical ground tracking sensor, and wheel encoders for precise positioning and location. TB4 comes in two models: TurtleBot 4 Standard and TurtleBot 4 Lite

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Description
Specifications
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Turtlebot-4: A complete mobile robot for education and research

The Clearpath Robotics TurtleBot-4 features an OLED display, an improved Spatial AI stereo camera, and a top mounting plate with accessible power and USB ports to easily integrate different payloads.

Sensor packed

Clearpath Robotics TurtleBot-4 includes a series of sensors, including infrared, to detect cliffs, bumps, and slopes 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 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.
  • TurtleBot is an open-source platform.
  • TurtleBot 4 now supports ROS 2 Humble, this update brings many new features: namespace support, mail delivery, “Patrol Loop” navigation etc.
  • 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) Rechargeable
  • 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
TurtleBot 4 Standard and TurtleBot 4 Lite comparison
Turtlebot4 version standard
Turtlebot4 version standard
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)
  • 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 autofocus 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,
  • 128×64 OLED Display
  • Ubuntu 20.04, ROS 2

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