Description
World’s Most Popular ROS Platform
TurtleBot is the most popular open source robot for education and research. The new generation TurtleBot3 is a small, low cost, fully programmable, ROS based mobile robot. It is intended to be used for education, research, hobby and product prototyping.
Affordable Cost
TurtleBot was developed to meet the cost-conscious needs of schools, laboratories and companies. TurtleBot3 is the most affordable robot among the SLAM-able mobile robots equipped with a 360° Laser Distance Sensor LDS-01.
ROS Standard
The TurtleBot brand is managed by Open Robotics, which develops and maintains ROS. Nowadays, ROS has become the go-to platform for all the roboticists around the world. TurtleBot can be integrated with existing ROS-based robot components, but TurtleBot3 can be an affordable platform for whom want to get started learning ROS.
Extensibility
TurtleBot3 encourages users to customize its mechanical structure with some alternative options: open source embedded board (as a control board), computer and sensors. TurtleBot3 Waffle Pi is a two-wheeled differential drive type platform but it is able to be structurally and mechanically customized in many ways: Cars, Bikes, Trailers and so on. Extend your ideas beyond imagination with various SBC, sensors and motors on a scalable structure.
Modular Actuator for Mobile Robot
TurtleBot3 is able to get a precise spatial data by using 2 DYNAMIXEL’s in the wheel joints. DYNAMIXEL XM series can be operated by one of 6 operating modes (XL series: 4 operating modes): Velocity control mode for wheels, Torque control mode or Position control mode for joint, etc. DYNAMIXEL can be used even to make a mobile manipulator which is light but can be precisely controlled with velocity, torque and position control. DYNAMIXEL is a core component that makes TurtleBot3 perfect. It is easy to assemble, maintain, replace and reconfigure.
Open Control Board for ROS
The control board is open-sourced in hardware wise and in software wise for ROS communication. The open source control board OpenCR1.0 is powerful enough to control not only DYNAMIXEL’s but also ROBOTIS sensors that are frequently being used for basic recognition tasks in cost effective way. Various sensors such as Touch sensor, Infrared sensor, Color sensor and a handful more are available. The OpenCR1.0 has an IMU sensor inside the board so that it can enhance precise control for countless applications. The board has 3.3 V, 5 V, 12 V power supplies to reinforce the available computer device lineups.
Open Source
The hardware, firmware and software of TurtleBot3 are open source which means that users are welcomed to download, modify and share source codes. All components of TurtleBot3 are manufactured with injection molded plastic to achieve low cost, however, the 3D CAD data is also available for 3D printing.
Specifications
| Maximum translational velocity | 0.26 m/s |
| Maximum rotational velocity | 1.82 rad/s (104.27 deg/s) |
| Maximum payload | 30 kg |
| Size (L x W x H) | 281 x 306 x 141 mm |
| Weight (+ SBC + Battery + Sensors) | 1.8 kg |
| Threshold of climbing | 10 mm or lower |
| Expected operating time | 2h |
| Expected charging time | 2h 30m |
| SBC (Single Board Computers) | Raspberry Pi 4 (2 GB RAM) |
| MCU | 32-bit ARM Cortex-M7 with FPU (216 MHz, 462 DMIPS) |
| Remote Controller | RC-100B + BT-410 Set (Bluetooth 4, BLE) |
| Actuator | XL430-W210 |
| LDS (Laser Distance Sensor) | 360 Laser Distance Sensor LDS-01 or LDS-02
|
| Camera | Raspberry Pi Camera Module v2.1 |
| IMU | Gyroscope 3 Axis
Accelerometer 3 Axis |
| Power connectors | 3.3 V/800 mA
5 V/4 A
12 V/1 A |
| Expansion pins | GPIO 18 pins
Arduino 32 pin |
| Peripheral | 3x UART, 1x CAN, 1x SPI, 1x I²C, 5x ADC, 4x 5-pin OLLO |
| DYNAMIXEL ports | 3x RS485, 3x TTL |
| Audio | Several programmable beep sequences |
| Programmable LEDs | 4x User LED |
| Status LEDs | 1x Board status LED
1x Arduino LED
1x Power LED |
| Buttons and Switches | 2x Push buttons, 1x Reset button, 2x Dip switch |
| Battery | Lithium polymer 11.1 V 1800 mAh / 19.98 Wh 5C |
| PC connection | USB |
| Firmware upgrade | via USB / via JTAG |
| Power adapter (SMPS) | Input: 100-240 VAC 50/60 Hz, 1.5 A @max
Output: 12 VDC, 5 A |
Downloads
