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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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.
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.
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| 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) |
