TB5-WaLI

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

• TB5-WaLI ROS 2 Nodes
  • wali_node
    • Manage battery: Undock at 99% battery, rotate to face dock at 18%, Dock at 15%)
  • odometer (Log all robot travel)
  • say_node (espeak-ng TTS server)
• TurtleBot4 ROS 2 Jazzy Jalisco
• Ubuntu 24.04 LTS (64-bit) Server
• Raspberry Pi 5 8GB
• 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