Turtlebot4 with Raspberry Pi 5 and ROS 2 Jazzy

A step by step guide to installing Raspberry Pi 5 with Create3 Education Robot (I guess an unofficial Turtlebot5). This project is heavily based on the work by slowrunner's TB5Wali, Jesse Stevens guide and official instructions from turtlebot_setup

Mandatory requirements

• Ubuntu: 24.04 (anything above 23.04 is required)
• ROS2: Jazzy Jalisco
• DDS: CycloneDDS
• Raspberry Pi 5: At least 8GB or higher

rpi5_teleop_working_compressed.mp4

Contribution Guide

If you encounter bugs, documentation gaps, hardware quirks, or unexpected behavior, please open an Issue first so we can discuss the problem and possible solutions. This helps avoid duplicated effort and keeps discussions visible to everyone.

If you have ideas for new features, improvements, or alternative setups, feel free to open an Issue to propose them or submit a Pull Request (PR) directly. For larger changes, starting with an Issue is strongly encouraged.

Before submitting a PR:

• Keep changes focused and well-scoped
• Follow existing project structure and conventions
• Update documentation when behavior or setup steps change

All contributions—code, documentation, testing, and feedback—are appreciated.

HOW-TO

We define dev machine as a Ubuntu computer that will be used to setup all software components of RPi5. This guide assumes there is no mouse, keyboard or monitor connected to RPi5 (if you think about it, its impractical). Start by cloning this repository

cd ~/Documents/
git clone https://github.com/Mechazo11/turtlebot4_rpi5.git
cd ~/turtlebot4_rpi5

0. Procure necessary hardware

See BILL_OF_MATERIALS.md

1. Flash CycloneDDS firware in Create3 base

WARNING to make life easier, do not swap Raspberry Pi's yet. Use the shipped image to flash Create3 to CycloneDDS. Follow instructions here.

2. Prepare the Ubuntu 24.04 Image and perform initial setup

Follow instructions in DOCS/IMAGE_PREPARATION.md

3. Disassemble Turtlebot4 standard / lite and

Folow instructions in DOCS/HARDWARE_SETUP.md

4. Configure ROS, OAK-D camera and other software in RPi5

Follow instructios in DOCS/SOFTWARE_SETUP.md

Useful resources

• Raspberry Pi 5: EVERYTHING you need to know

• Pi5 USB Current Manageement

• RPi5 Pinout Diagram

• Linux GPIO for Raspberry Pi 5

• Need for updating libgiodev to v2x

• Determine chip number for libgpio v2x

• Turtlebot4 User Manual

• Create3 Education Robot

• Jazzy TB4 with Raspberry Pi 5

• TBWali: Pi5 Setup

• TB5Wali

• Raspberry Pi 5, Ubuntu, ROS2 Jazzy Jalisco, iRobot Create 3 – all playing together

• turtlebot4_setup

• Clearpath's Turtlebot4 setup instructions