https://github.com/slowrunner/tb5-wali

Raspberry Pi 5 based ROS 2 Robot "Wallfollower Looking for Intelligence" loosely based on TurtleBot 4
https://github.com/slowrunner/tb5-wali

create3 oak-d raspberry-pi-5 robot ros2-jazzy rplidar-c1 turtlebot4

Last synced: 9 days ago
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Raspberry Pi 5 based ROS 2 Robot "Wallfollower Looking for Intelligence" loosely based on TurtleBot 4

• Host: GitHub
• URL: https://github.com/slowrunner/tb5-wali
• Owner: slowrunner
• Created: 2025-01-09T21:36:01.000Z (over 1 year ago)
• Default Branch: main
• Last Pushed: 2025-06-12T01:44:51.000Z (about 1 year ago)
• Last Synced: 2025-06-12T02:49:03.394Z (about 1 year ago)
• Topics: create3, oak-d, raspberry-pi-5, robot, ros2-jazzy, rplidar-c1, turtlebot4
• Language: C++
• Homepage:
• Size: 84.7 MB
• Stars: 1
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
# TB5-WaLI

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  

### TB5-WaLI First "life": 2025-01-09