hope to support nano / xaiver nx / orin nx / Tx2 nx for PCBA nor just rpi4

[ncnynl]

I have several standard versions of turtlebot4 here, but only Raspberry Pi supports PCBA for SBC. Can other SBCs be added?

[roni-kreinin]

@ncnynl We do not officially support any other SBCs but you can definitely attempt to get TTB4 working on one.

I would first check that the SBC power requirements can be supported (https://turtlebot.github.io/turtlebot4-user-manual/electrical/power_budget.html).

Then, you will need to install a fresh Ubuntu image and try to run the image setup script. You may need to modify this script for your SBC.

You will also need to modify the pinout for the turtlebot4 base node:

turtlebot4_robot/turtlebot4_bringup/config/turtlebot4.yaml

Line 72 in 3d92a3f

turtlebot4_base_node:

I can't guarantee that the GPIO library we use will work for other SBCs, so you may need to modify the node itself.

Let me know if you have any questions.

[ncnynl]

@roni-kreinin I have completed the integration of related nx. At present, here is our improved code and some instructions.

turtlebot/turtlebot4#278

[ncnynl]

@roni-kreinin

For the power supply, although PCBA can be used for unified power supply, I use independent lithium battery for power supply, which can increase the battery life of the chassis.

The definition of the pin can be modified in turtlebot4.yaml. Most of them are suitable for use, and currently 16 pins are mainly used. The i2c pins require jumpers, so the PCBA cable cannot be directly plugged into the NX and can only be connected separately.

The software also needs some changes. Because the original code has many fixed values for the Raspberry Pi, it also needs to be changed to configurable, and the configuration is unified in turtlebot4.yaml.

The overall difficulty lies in finding the corresponding relationship between the NX pins and the Raspberry Pi pins. This took a lot of time. Other changes are not too difficult.