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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.
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) |