Raspberry Pi 5 based ROS 2 Robot "Wallfollower Looking for Intelligence" based on TurtleBot 4 Lite

• TB5-WaLI ROS 2 Jazzy Nodes

  • wali_node
    • Manage battery: Undock at 99% battery, dock at 20%)
  • odometer (Log all robot travel)
  • say_node (espeak-ng TTS server)
  • lifelognode (allows remote life.log entries)

• TurtleBot4 ROS 2 Jazzy Nodes

  • create3 republisher
  • turtlebot4_node
  • rplidar
  • oakd
  • robot and joint state publishers
  • teleop_twist_joy and joy_linux_node
  • turtlebot4_node
  • turtlebot4 diagnostics and diagnostics aggregator (disabled)

• ROS 2 Jazzy Jalisco

• FastDDS RMW with Discovery Server running

• Ubuntu 24.04 LTS (64-bit) Server

• Raspberry Pi 5 8GB

• Slamtec RPLidar C1: 360 deg 2D Scan - 12 meter range 15mm 0.72 deg resolution at 10 Hz

• Oak-D-Lite RGB plus Stereo Depth Camera with 4TOPS NN processor (e.g. Object/Pose Recognition)

• Create3 running "ROS 2 Iron Firmware"

  • Iron Firmware is the last release before iRobot discontinued selling Create3
  • Certified to work with ROS 2 Jazzy nodes
  • Communicates with RPi5 using Ethernet-over-USB

• NewBattery

  • 2026-03-23 (3200mAh 46Wh) at 2052 dockings 10310 hrs total life
  • 2025-01-09 (1800mAh 26Wh "used") came with used Create3