turtlebot4-hardware

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turtlebot4-hardware

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turtlebot4-hardware 최신버젼 다운로드

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# Turtlebot4 Hardware

<table>
    <thead>
        <tr>
            <th>Feature</th>
            <th>
                TurtleBot 4 Lite
            </th>
            <th>
                TurtleBot 4
            </th>
        </tr>
    </thead>
    <tbody>
        <tr>
            <td>Size (L x W x H)</td>
            <td>342 x 339 x 192 mm</td>
            <td>342 x 339 x 351 mm</td>
        </tr>
        <tr>
            <td>Weight</td>
            <td>3270 g</td>
            <td>3945 g</td>
        </tr>
        <tr>
            <td>Base platform</td>
            <td>iRobot® Create® 3</td>
            <td>iRobot® Create® 3</td>
        </tr>
        <tr>
            <td>Wheels (Diameter)</td>
            <td>72 mm</td>
            <td>72 mm</td>
        </tr>
        <tr>
            <td>Ground Clearance</td>
            <td>4.5 mm</td>
            <td>4.5 mm</td>
        </tr>
        <tr>
            <td>On-board Computer</td>
            <td>Raspberry Pi 4B 4GB</td>
            <td>Raspberry Pi 4B 4GB</td>
        </tr>
        <tr>
            <td>Maximum linear velocity	</td>
            <td>0.31 m/s in safe mode, 0.46 m/s without safe mode</td>
            <td>0.31 m/s in safe mode, 0.46 m/s without safe mode</td>
        </tr>
        <tr>
            <td>Maximum angular velocity</td>
            <td>1.90 rad/s</td>
            <td>1.90 rad/s</td>
        </tr>
        <tr>
            <td>Maximum payload	</td>
            <td>9 kg</td>
            <td>9 kg</td>
        </tr>
        <tr>
            <td>Operation time	</td>
            <td>2h 30m - 4h depending on load</td>
            <td>2h 30m - 4h depending on load</td>
        </tr>
        <tr>
            <td>Charging time</td>
            <td>2h 30m</td>
            <td>2h 30m</td>
        </tr>
        <tr>
            <td>Bluetooth Controller</td>
            <td>Not Included</td>
            <td>TurtleBot 4 Controller</td>
        </tr>
        <tr>
            <td>Lidar</td>
            <td>RPLIDAR A1M8</td>
            <td>RPLIDAR A1M8</td>
        </tr>
        <tr>
            <td>Camera</td>
            <td>OAK-D-Lite</td>
            <td>OAK-D-Pro</td>
        </tr>
        <tr>
            <td>User Power</td>
            <td>
                VBAT @1.9A <br/>
                5V @ Low current <br/>
                3.3V @ Low current
            </td>
            <td>
                VBAT @ 300 mA <br/>
                12V @ 300 mA <br/>
                5V @ 500 mA <br/>
                3.3v @ 250 mA
            </td>
        </tr>
        <tr>
            <td>USB Expansion</td>
            <td>
                USB 2.0 (Type A) x2 <br/>
                USB 3.0 (Type A) x2
            </td>
            <td>
                USB 2.0 (Type A) x2 <br/>
                USB 3.0 (Type A) x1 <br/>
                USB 3.0 (Type C) x4
            </td>
        </tr>
        <tr>
            <td>Programmable LEDs</td>
            <td>Create® 3 Lightring</td>
            <td>
                Create® 3 Lightring <br/>
                User LED x2
            </td>
        </tr>
        <tr>
            <td>Status LEDs</td>
            <td>-</td>
            <td>
                Power LED <br/>
                Motors LED <br/>
                WiFi LED <br/>
                Comms LED <br/>
                Battery LED
            </td>
        </tr>
        <tr>
            <td>Buttons and Switches</td>
            <td>
                Create® 3 User buttons x2 <br/>
                Create® 3 Power Button x1
            </td>
            <td>
                Create® 3 User buttons x2 <br/>
                Create® 3 Power Button x1 <br/>
                User Buttons x4
            </td>
        </tr>
        <tr>
            <td>Battery</td>
            <td>26 Wh Lithium Ion (14.4V nominal)</td>
            <td>26 Wh Lithium Ion (14.4V nominal)</td>
        </tr>
        <tr>
            <td>Charging Dock</td>
            <td>Included</td>
            <td>Included</td>
        </tr>
    </tbody>
</table>

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