Turtlebot4_setup installation issue

[GauravNerf]

Hi,
I tried following the steps mention in the github repo to manually install turtlebot4_setup.

I did configure the wifi in raspi imager, and set my country name and locale settings, ssh, for ubuntu 24.04 lts server.

I inserted the sd card to turtlebot4 raspi and booted it up using the turtlebot4 power button. I connected an ethernet cable to connect the raspi to the network, then i did ssh into the raspi from my computer with ubuntu/ubuntu username and password. I did not update the wifi settings, because it did contain the correct wifi settings that i gave in raspi imager, with correct wifi country settings.

After that i ran the following command wget -qO - https://raw.githubusercontent.com/turtlebot/turtlebot4_setup/jazzy/scripts/turtlebot4_setup.sh | bash and did a sudo reboot.

This did not install turtlebot4-setup or at least did throw an error stating turtlebot4-setup not found.

So, i did try to install it again by the wget -qO - https://raw.githubusercontent.com/turtlebot/turtlebot4_setup/jazzy/scripts/turtlebot4_setup.sh | bash and did sudo reboot, but the oled display and led lights dont light up, so i dont see the ip on the screen. I restarted the turtlebot4 but still no improvement.

[RustyCPR]

Hi there @GauravNerf
Sorry to see your encountering concerns with setting up your TB4.

Based on the information you provided, I suspect the installation script either did not complete successfully or did not finish configuring the system before the reboot, which would explain why turtlebot4-setup was not found after running the installer.
Can you still SSH into the Raspberry Pi?
The OLED display and PCBA LEDs are controlled by software running on the Raspberry Pi. If the TurtleBot 4 software stack is not installed correctly, they may remain off.

You can try running this process: https://turtlebot.github.io/turtlebot4-user-manual/setup/basic.html#install-latest-raspberry-pi-image
Let me know,
Rusty

[GauravNerf]

Hi,
Thank you for responding! I will ask my questions following below:

1. Is it possible to test or give a feedback on the manual setup option described in here https://github.com/turtlebot/turtlebot4_setup/blob/jazzy/README.md, and check if they are working properly as instructed, and if this setup option is affected/fails by timezone and country(Germany for example) specific internet setup being done while flashing the sd card using raspi imager.
2. What is the safest way to update the turtlebot4, oakd camera, etc packages and ubuntu updates that come with the pre-built raspi jazzy images on raspberry pi and not break the robot setup :) ?
3. Next three questions are bit off track, please let me know if i should create a separate troubleshooting issue if necessary for them.

• Is it possible and supported to upgrade the depthai core and depthai ros driver v2 both to depth-ai v3 and update depth ai core corresponding to the latest stable version for ros2 jazzy? If yes then please guide me with some steps on how to safely do so, via source build method?
• Is it possible to attach an intel realsense depth camera in place of oakd camera in turtlebot4, what configuration changes i should look for or do, like the one camera attached to the robot in this video. https://youtu.be/5D_pnLONa_A?si=qMICApE6pu6IzU9f
• An does the provided raspi 4b and create 3 power supply support the possibility of running two rgbd (oakd pro + intel realsense) cameras, for collecting raw rgb and depth images synced together? I understand the raspi brownout issue, limited power supply but would like to know if there is a work around known to cpr for this kind of setup.

Please do let me know.

Best,
Gaurav

[RustyCPR]

Hi there @GauravNerf

Please assist me with understanding if your reported concern was addressed by my last reply. I didn't see any answers to my questions.

• Can you still SSH into the Raspberry Pi?
• The OLED display and PCBA LEDs are controlled by software running on the Raspberry Pi. If the TurtleBot 4 software stack is not installed correctly, they may remain off.
• You can try running this process: https://turtlebot.github.io/turtlebot4-user-manual/setup/basic.html#install-latest-raspberry-pi-image

Regarding your questions:

1. Is it possible to test or give a feedback on the manual setup option described in here https://github.com/turtlebot/turtlebot4_setup/blob/jazzy/README.md, and check if they are working properly as instructed, and if this setup option is affected/fails by timezone and country(Germany for example) specific internet setup being done while flashing the sd card using raspi imager.

yes, we kindly ask you to open a support ticket here: https://github.com/turtlebot/turtlebot4/issues/

2. What is the safest way to update the turtlebot4, oakd camera, etc packages and ubuntu updates that come with the pre-built raspi jazzy images on raspberry pi and not break the robot setup

sudo apt-get update && sudo apt-get upgrade

3. Is it possible to attach an intel realsense depth camera in place of oakd camera in turtlebot4, what configuration changes i should look for or do

Possible - but not something we will provide in-depth support for. https://github.com/realsenseai/realsense-ros#installation-on-ubuntu
Install the RealSense SDK (librealsense).
Install the realsense-rospackage.
Launch the RealSense node alongside the TurtleBot4stack.
The RealSense ROS wrapper is actively maintained for ROS2.

Is it possible and supported to upgrade the depthai core and depthai ros driver v2 both to depth-ai v3 and update depth ai core corresponding to the latest stable version for ros2 jazzy? If yes then please guide me with some steps on how to safely do so, via source build method?

I would point you to Luxonis's website for the best resource for their products: https://docs.luxonis.com/software-v3/depthai/tutorials/v2-vs-v3/

An does the provided raspi 4b and create 3 power supply support the possibility of running two rgbd (oakd pro + intel realsense) cameras, for collecting raw rgb and depth images synced together? I understand the raspi brownout issue, limited power supply but would like to know if there is a work around known to cpr for this kind of setup.

You should be fine - if you are seeing that the battery life is impacted the Turtlebot4 comes with Y adapter for the Oak-D Pro - it separates power and data USB connections. With this adapter you can power the Oak-D Pro from a USB power bank - while maintaining a USB C data connection to the RPi4. See video showing it here: https://youtu.be/y9MbdTAeZh0?si=L_YgYsmX2CIthHQ0&t=22

Best regards,
Rusty

[GauravNerf]

Hi there @RustyCPR ,

Can you still SSH into the Raspberry Pi?
The OLED display and PCBA LEDs are controlled by software running on the Raspberry Pi. If the TurtleBot 4 software stack is not installed correctly, they may remain off.
You can try running this process: https://turtlebot.github.io/turtlebot4-user-manual/setup/basic.html#install-latest-raspberry-pi-image

My bad, I missed commenting on your addressed suggestions.
After the installation failed, the ssh into raspi was not possible, even via the ethernet. I connected a mini hdmi, keyboard to ras pi to debug further, but no success. So, ultimately switched to the recommended pre built image and with that I started working ahead. And the pcba lights and display were off, so yeah your diagnosis also matches with the symptoms the robot was showing :)

Thank you very much for answering all my questions.

Best regards,
Gaurav

[RustyCPR]

Sounds good @GauravNerf
The TB4 Standard does come with OAK-D Pro Y adapter.
The TB4 Lite does not come with this Y adapter from OAK D - it would need to be purchased separately.

Let me know if you have any other questions or I can close out this ticket.
Have a nice day,
Rusty

[GauravNerf]

I do have a few additional questions:

1. I connect the oakd pro(pipeline synced) camera to the pcba type c ports for additional power supply, without the y adapter; but when i run/move the robot around I see the fps drop than when the robot is not moving. Why does this happen, is it a power management issue?

2. Did cpr by any chance test porting the oakd drivers from v2 to v3, and running them?

Best regards,
Gaurav

[RustyCPR]

Hi there @GauravNerf

To address your questions:

1. I connect the oakd pro(pipeline synced) camera to the pcba type c ports for additional power supply, without the y adapter; but when i run/move the robot around I see the fps drop than when the robot is not moving. Why does this happen, is it a power management issue?

Does the issue occur when the OAK-D is plugged into the RPi4?
Any difference when using the adapter?

2. Did cpr by any chance test porting the oakd drivers from v2 to v3, and running them?

Our production team that builds, installs the OS and tests the TB4 are installing V2.10

Best regards,
Rusty

[GauravNerf]

Hi @RustyCPR ,

We are on the process of getting the power bank for external power supply. We found the y-adapter, you mentioned in previous comments. I will update on your addressed suggestions once it arrives.

I have another observation, when i view the topics, i see a higher fps(ex:10fps), but when i record using ros2 bag record, the fps seems to drop drastically(ex:4-5fps). I am storing/recording the topics on my client pc directly connected to the robot via ethernet via the discovery server. The ssd i am using to write into is high speed ssd, so read write speed is not an issue I think. Is there something, I am missing out on, how can i improve this situation.

Best regards,
Gaurav

[RustyCPR]

Hi there @GauravNerf
The FPS drop while recording is not unusual. Even with a fast SSD, ros2 bag record adds CPU, networking, and serialization overhead, especially when recording data over Ethernet from the robot to the client PC.

A few things to check:

1. Compare the topic rate before and during recording using: ros2 topic hz <topic_name>

2. Monitor CPU usage on both the TurtleBot 4 RPi4 and your client PC while recording using the htop command Try recording directly on the robot and compare the resulting FPS. This is often the quickest way to determine whether the network/discovery-server setup is contributing to the slowdown. If you're recording camera or depth topics, they can generate significant bandwidth and processing load, which may lead to dropped messages during recording.

3. Could you also let us know which topics you're recording and the output of: ros2 topic bw <topic_name>
   That should help narrow down where the bottleneck is occurring.

Best regards,
Rusty

[GauravNerf]

Hi @RustyCPR,

The fps is indeed pretty low. I record the following using ros2 bag with the following topic: /oakd/rgb/image_raw, /oakd/rgb/camera_info, /oakd/stereo/image_raw, /oakd/stereo/camera_info, /tf, /tf_static, /odom.
The raw images are 640*360 and are pipeline sync mode

ros2 topic hz /oakd/rgb/image_raw
gives

average rate: 2.605
	min: 0.177s max: 0.777s std dev: 0.24091s window: 4
average rate: 2.172
	min: 0.177s max: 1.364s std dev: 0.39042s window: 8
average rate: 2.185
	min: 0.177s max: 1.364s std dev: 0.35781s window: 11
average rate: 2.105

the topics are recorded as follows in the ros2 bag.

i monitored the cpu, which max raises to 50%.

the ethtool also says the following:

	Speed: 1000Mb/s
	Duplex: Full
	Link detected: yes

the topic bandwidth goes like this:

ubuntu@turtlebot42:~$ ros2 topic bw /oakd/rgb/image_raw
WARNING: topic [/oakd/rgb/image_raw] does not appear to be published yet
Subscribed to [/oakd/rgb/image_raw]
2.71 MB/s from 2 messages
	Message size mean: 0.69 MB min: 0.69 MB max: 0.69 MB
1.37 MB/s from 3 messages
	Message size mean: 0.69 MB min: 0.69 MB max: 0.69 MB
1.65 MB/s from 6 messages
	Message size mean: 0.69 MB min: 0.69 MB max: 0.69 MB
1.77 MB/s from 9 messages
	Message size mean: 0.69 MB min: 0.69 MB max: 0.69 MB
1.69 MB/s from 11 messages
	Message size mean: 0.69 MB min: 0.69 MB max: 0.69 MB
1.88 MB/s from 15 messages
	Message size mean: 0.69 MB min: 0.69 MB max: 0.69 MB

ubuntu@turtlebot42:~$ ros2 topic bw /oakd/stereo/image_raw
WARNING: topic [/oakd/stereo/image_raw] does not appear to be published yet
Subscribed to [/oakd/stereo/image_raw]
1.69 MB/s from 3 messages
	Message size mean: 0.46 MB min: 0.46 MB max: 0.46 MB
1.52 MB/s from 6 messages
	Message size mean: 0.46 MB min: 0.46 MB max: 0.46 MB
1.64 MB/s from 10 messages
	Message size mean: 0.46 MB min: 0.46 MB max: 0.46 MB
1.57 MB/s from 13 messages
	Message size mean: 0.46 MB min: 0.46 MB max: 0.46 MB
1.44 MB/s from 15 messages
	Message size mean: 0.46 MB min: 0.46 MB max: 0.46 MB

ubuntu@turtlebot42:~$ ros2 topic bw /tf
WARNING: topic [/tf] does not appear to be published yet
Subscribed to [/tf]
8.34 KB/s from 30 messages
	Message size mean: 0.27 KB min: 0.20 KB max: 0.42 KB
8.23 KB/s from 60 messages
	Message size mean: 0.27 KB min: 0.20 KB max: 0.42 KB
8.19 KB/s from 90 messages
	Message size mean: 0.27 KB min: 0.20 KB max: 0.42 KB
8.14 KB/s from 100 messages
	Message size mean: 0.27 KB min: 0.20 KB max: 0.42 KB
8.15 KB/s from 100 messages
	Message size mean: 0.27 KB min: 0.20 KB max: 0.42 KB
8.14 KB/s from 100 messages
	Message size mean: 0.27 KB min: 0.20 KB max: 0.42 KB
8.15 KB/s from 100 messages
	Message size mean: 0.27 KB min: 0.20 KB max: 0.42 KB

ubuntu@turtlebot42:~$ ros2 topic bw /odom
WARNING: topic [/odom] does not appear to be published yet
Subscribed to [/odom]
15.07 KB/s from 20 messages
	Message size mean: 0.72 KB min: 0.72 KB max: 0.72 KB
14.77 KB/s from 40 messages
	Message size mean: 0.72 KB min: 0.72 KB max: 0.72 KB
14.67 KB/s from 60 messages
	Message size mean: 0.72 KB min: 0.72 KB max: 0.72 KB
14.62 KB/s from 80 messages
	Message size mean: 0.72 KB min: 0.72 KB max: 0.72 KB
14.60 KB/s from 100 messages
	Message size mean: 0.72 KB min: 0.72 KB max: 0.72 KB
14.60 KB/s from 100 messages
	Message size mean: 0.72 KB min: 0.72 KB max: 0.72 KB
14.59 KB/s from 100 messages
	Message size mean: 0.72 KB min: 0.72 KB max: 0.72 KB
14.59 KB/s from 100 messages
	Message size mean: 0.72 KB min: 0.72 KB max: 0.72 KB
14.59 KB/s from 100 messages
	Message size mean: 0.72 KB min: 0.72 KB max: 0.72 KB

and the other topics are also are in KB/s.

Is it dependent what is the packet size default set for the ethernet port or something, I am not sure. I have a target to make the fps reach at 15hz or a bit lower, but this is too low.

The oakd pipeline also should not be an issue, when i tested similar parameters and filters enabled in the pipeline via via the oak viewer, it was resulting 15fps around, or more. Am I really missing something here, please let me know.

Best regards,
Gaurav