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TurtleBot

TurtleBot

TurtleBot is a low-cost, personal robot kit with open-source software. TurtleBot was created at Willow Garage by Melonee Wise and Tully Foote in November 2010. With TurtleBot, you’ll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications.

The TurtleBot kit consists of a mobile base, 2D/3D distance sensor, laptop computer or SBC(Single Board Computer), and the TurtleBot mounting hardware kit. In addition to the TurtleBot kit, users can download the TurtleBot SDK from the ROS wiki. TurtleBot is designed to be easy to buy, build, and assemble, using off the shelf consumer products and parts that easily can be created from standard materials. As an entry level mobile robotics platform, TurtleBot has many of the same capabilities of the company’s larger robotics platforms, like PR2.

For more information about hardware and software, please see http://www.turtlebot.com.

  Show EOL distros: 

ROS Software Maintainer: Michael Ferguson, Tully Foote, Melonee Wise (Willow Garage)

Contents

  1. Installation
  2. Getting Started with TurtleBot
    1. Advanced
  3. Support
  4. Library Overview
    1. Basic Configuration
    2. Hardware Drivers and Simulation
    3. High-Level Capabilities

Installation

Note: These installation instructions are only valid for TurtleBot 1! Turtlebot 2 supported started in ROS Groovy.

  1. Install software on the TurtleBot

  2. Install developer toolkit on your workstation

  3. Setup the network between your TurtleBot and workstation

Getting Started with TurtleBot

  1. TurtleBot Bringup

    How to start a TurtleBot

  2. TurtleBot Care and Feeding

    This tutorials explains how to charge and maintain your TurtleBot.

  3. Visualizing TurtleBot Kinect Data
    This tutorial shows you how to look at data coming from the Kinect camera.

turtlebot_teleop

  1. Keyboard Teleop

    How to teleoperate your TurtleBot with a keyboard.

  2. Joystick Teleop

    How to teleoperate your TurtleBot with a joystick.

  3. Interactive Markers

    Shows how to use rviz interactive markers for teleoping the TurtleBot.

turtlebot_calibration

  1. TurtleBot Odometry and Gyro Calibration

    This will show you how to calibrate or test the calibration of a TurtleBot which is highly recommended when running any navigation based application. /!\ Only necessary if you have a Create base which is using an external gyro.

turtlebot_navigation

  1. SLAM Map Building with TurtleBot

    How to generate a map using gmapping

  2. turtlebotのナビゲーションスタックの設定

    ロボットのナビゲーション構成についてのはじめの一歩, および, その他のもっと包括的なチュートリアルへのリファレンス

  3. Setup the Navigation Stack for TurtleBot

    Provides a first glimpse of navigation configuration for your robot, with references to other much more comprehensive tutorials.

  4. turtlebotによるSLAMを用いた地図作成

    gmappingを利用して地図を作成する方法

  5. 既知の地図を用いたTurtleBotの自律ナビゲーション

    このチュートリアルでは既知の地図を用いてTurtleBotでナビゲーションを行う方法について述べます.

  6. Setup the Navigation Stack for TurtleBot

    Provides a first glimpse of navigation configuration for your robot, with references to other much more comprehensive tutorials.

  7. Setup the Navigation Stack for TurtleBot

    Provides a first glimpse of navigation configuration for your robot, with references to other much more comprehensive tutorials.

  8. SLAM Map Building with TurtleBot

    How to generate a map using gmapping

  9. Autonomous Navigation of a Known Map with TurtleBot

    This tutorial describes how to use the TurtleBot with a previously known map.

  10. SLAM Map Building with TurtleBot

    How to generate a map using gmapping

  11. 为Turtlebot配置导航包

    为您的机器人提供导航配置的第一个示例，随后可参考其他更全面的教程。

  12. SLAM Map Building with TurtleBot

    How to generate a map using gmapping

  13. Autonomous Navigation of a Known Map with TurtleBot

    This tutorial describes how to use the TurtleBot with a previously known map.

  14. Autonomous Navigation of a Known Map with TurtleBot

    This tutorial describes how to use the TurtleBot with a previously known map.

  15. Autonomous Navigation of a Known Map with TurtleBot

    This tutorial describes how to use the TurtleBot with a previously known map.

1. Advanced

  1. TurtleBot Follower Demo

    How to make your TurtleBot follow whatever's in front of it.

  2. Android Control of the TurtleBot

    How to control your TurtleBot from an Android device.

Support

For questions about software, please use the standard ways to get support for ROS. Please post TurtleBot-related questions to http://answers.ros.org with the tag "turtlebot". We encourage TurtleBot users to also subscribe to the turtlebot-users mailing list, for announcements and discussions among the TurtleBot community.

<<KforgeTracLink(turtlebot turtlebot)>>

Library Overview

1. Basic Configuration

Capability

ROS package/stack

Robot-specific Messages

turtlebot_node

Robot model (URDF)

turtlebot_description

2. Hardware Drivers and Simulation

Component

ROS package/stack

Actuator Drivers

turtlebot_node

Sensor Drivers

openni_kinect, pointcloud_to_laserscan

Simulation

turtlebot_simulator

3. High-Level Capabilities

Component

ROS package/stack

Navigation

turtlebot_navigation

Teleop

turtlebot_teleop

Visualization

turtlebot_dashboard

Manipulation

turtlebot_arm

ROS Software Maintainer: Michael Ferguson, Tully Foote, Melonee Wise (Willow Garage)

Contents

  1. Installation
  2. Getting Started with TurtleBot
    1. Advanced
  3. Support
  4. Library Overview
    1. Basic Configuration
    2. Hardware Drivers and Simulation
    3. High-Level Capabilities

Installation

Note: These installation instructions are only valid for TurtleBot 1! Turtlebot 2 supported started in ROS Groovy.

  1. Install software on the TurtleBot

  2. Install developer toolkit on your workstation

  3. Setup the network between your TurtleBot and workstation

Getting Started with TurtleBot

  1. TurtleBot Bringup

    How to start a TurtleBot

  2. TurtleBot Care and Feeding

    This tutorials explains how to charge and maintain your TurtleBot.

  3. Visualizing TurtleBot Kinect Data
    This tutorial shows you how to look at data coming from the Kinect camera.

turtlebot_teleop

  1. Keyboard Teleop

    How to teleoperate your TurtleBot with a keyboard.

  2. Joystick Teleop

    How to teleoperate your TurtleBot with a joystick.

  3. Interactive Markers

    Shows how to use rviz interactive markers for teleoping the TurtleBot.

turtlebot_calibration

  1. TurtleBot Odometry and Gyro Calibration

    This will show you how to calibrate or test the calibration of a TurtleBot which is highly recommended when running any navigation based application. /!\ Only necessary if you have a Create base which is using an external gyro.

turtlebot_navigation

  1. SLAM Map Building with TurtleBot

    How to generate a map using gmapping

  2. turtlebotのナビゲーションスタックの設定

    ロボットのナビゲーション構成についてのはじめの一歩, および, その他のもっと包括的なチュートリアルへのリファレンス

  3. Setup the Navigation Stack for TurtleBot

    Provides a first glimpse of navigation configuration for your robot, with references to other much more comprehensive tutorials.

  4. turtlebotによるSLAMを用いた地図作成

    gmappingを利用して地図を作成する方法

  5. 既知の地図を用いたTurtleBotの自律ナビゲーション

    このチュートリアルでは既知の地図を用いてTurtleBotでナビゲーションを行う方法について述べます.

  6. Setup the Navigation Stack for TurtleBot

    Provides a first glimpse of navigation configuration for your robot, with references to other much more comprehensive tutorials.

  7. Setup the Navigation Stack for TurtleBot

    Provides a first glimpse of navigation configuration for your robot, with references to other much more comprehensive tutorials.

  8. SLAM Map Building with TurtleBot

    How to generate a map using gmapping

  9. Autonomous Navigation of a Known Map with TurtleBot

    This tutorial describes how to use the TurtleBot with a previously known map.

  10. SLAM Map Building with TurtleBot

    How to generate a map using gmapping

  11. 为Turtlebot配置导航包

    为您的机器人提供导航配置的第一个示例，随后可参考其他更全面的教程。

  12. SLAM Map Building with TurtleBot

    How to generate a map using gmapping

  13. Autonomous Navigation of a Known Map with TurtleBot

    This tutorial describes how to use the TurtleBot with a previously known map.

  14. Autonomous Navigation of a Known Map with TurtleBot

    This tutorial describes how to use the TurtleBot with a previously known map.

  15. Autonomous Navigation of a Known Map with TurtleBot

    This tutorial describes how to use the TurtleBot with a previously known map.

1. Advanced

  1. TurtleBot Follower Demo

    How to make your TurtleBot follow whatever's in front of it.

  2. Android Control of the TurtleBot

    How to control your TurtleBot from an Android device.

Support

For questions about software, please use the standard ways to get support for ROS. Please post TurtleBot-related questions to http://answers.ros.org with the tag "turtlebot". We encourage TurtleBot users to also subscribe to the turtlebot-users mailing list, for announcements and discussions among the TurtleBot community.

<<KforgeTracLink(turtlebot turtlebot)>>

Library Overview

1. Basic Configuration

Capability

ROS package/stack

Robot-specific Messages

turtlebot_node

Robot model (URDF)

turtlebot_description

2. Hardware Drivers and Simulation

Component

ROS package/stack

Actuator Drivers

turtlebot_node

Sensor Drivers

openni_kinect, pointcloud_to_laserscan

Simulation

turtlebot_simulator

3. High-Level Capabilities

Component

ROS package/stack

Navigation

turtlebot_navigation

Teleop

turtlebot_teleop

Visualization

turtlebot_dashboard

Manipulation

turtlebot_arm

ROS Software Maintainers: Tully Foote, Melonee Wise/Michael Ferguson (Unbounded Robotics), , Daniel Stonier (Yujin Robot)

Contents

  1. Overview
  2. Installation
  3. Getting Started
    1. Bringup
    2. Teleoperation
    3. Calibration
  4. Advanced Usage
    1. Navigation
    2. Something Funny
    3. Interesting Software
  5. Android
  6. Support
  7. Contributing
  8. Library Overview
    1. Basic Configuration
    2. Hardware Drivers
    3. High-Level Capabilities
    4. Application Framework
    5. Coming Soon

Overview

This information is a first draft for running turtlebot on either a Create or a Kobuki. If you find problems or outright lies (there is alot of mashed history seeping through!), please fix directly or raise the issue on the turtlebot sig mailing list.

Installation

  1. Installation

    Installation instructions from iso, deb or sources.

  2. Post-Installation Setup

    Customised configuration for your robot setup.

  3. Workstation Installation

    Installing the software for your monitoring workstation pc.

  4. Network Configuration

    Get turtlebot and your workstation chatting to each other.

Getting Started

1. Bringup

  1. TurtleBot Bringup

    How to start the TurtleBot software.

  2. TurtleBot Care and Feeding

    This tutorials explains how to charge and maintain your TurtleBot.

  3. 3D Visualisation

    Visualising 3d and camera data from the kinect/asus.

2. Teleoperation

  1. Keyboard Teleop

    Keyboard teleoperation of a turtlebot.

  2. Joystick Teleop

    Joystick teleoperation of a turtlebot.

  3. Interactive Markers Teleop

    A tutorial describing how to use rviz interactive markers for controlling the TurtleBot.

3. Calibration

  1. TurtleBot Odometry and Gyro Calibration

    /!\ Only necessary if you have a Create base which is using an external gyro. This will show you how to calibrate or test the calibration of a TurtleBot which is highly recommended when running any navigation based application.

Advanced Usage

1. Navigation

  1. Setup the Navigation Stack for TurtleBot

    Provides a first glimpse of navigation configuration for your robot, with references to other much more comprehensive tutorials.

  2. SLAM Map Building with TurtleBot

    How to generate a map using gmapping

  3. Autonomous Navigation of a Known Map with TurtleBot

    This tutorial describes how to use the TurtleBot with a previously known map.

2. Something Funny

  1. The TurtleBot Follower Demo

    This describes how to run the TurtleBot Follower Demo on your TurtleBot.

  2. The TurtleBot Panorama Demo

    This describes how to run the TurtleBot Panorama Demo on your TurtleBot.

3. Interesting Software

  1. The TurtleBot Panorama Demo

    This describes how to run the TurtleBot Panorama Demo on your TurtleBot.

Android

  1. How to control your TurtleBot from an Android device

    This will walk you through how to control your TurtleBot from an Android phone or tablet.

Support

For questions about software, please use the standard ways to get support for ROS.

Contributing

  • Software Development - outlines the git based pull-request workflow through which we accept software contributions.

  • Do you want to create your own Android applications to control TurtleBot? These tutorials tell you how!

  • Documentation - any effort to help make this wiki documentation clearer will of course, always be appreciated.

Library Overview

1. Basic Configuration

Capability

ROS package

Robot-specific Messages

kobuki_msgs/create_node

Robot model (URDF)

turtlebot_description/kobuki_description/create_description

2. Hardware Drivers

Component

ROS package

Actuator Drivers

kobuki_driver/create_driver

Mobile Base Nodes

kobuki_node/create_node/turtlebot_bringup

Sensor Drivers

openni_camera, depthimage_to_laserscan

3. High-Level Capabilities

Component

ROS package

Navigation

turtlebot_navigation

Teleop

turtlebot_teleop

Interactive Markers

turtlebot_interactive_markers

Visualization

turtlebot_rviz_launchers/turtlebot_dashboard

4. Application Framework

Component

ROS package

App Manager

turtlebot_app_manager

Turtlebot Apps

turtlebot_apps

Android Apps

turtlebot_android

5. Coming Soon

Not yet available, but in the works!

Component

ROS package

Simulation

turtlebot_simulator

Manipulation

turtlebot_arm

ROS Software Maintainers: Michael Ferguson (Unbounded Robotics), Tully Foote (OSRF), Melonee Wise (Unbounded Robotics), Daniel Stonier (Yujin Robot)

Contents

  1. Overview
  2. Installation
  3. Getting Started
    1. Bringup
    2. Teleoperation
    3. Calibration
  4. Advanced Usage
    1. Navigation
    2. Something Funny
    3. Interesting Software
  5. App Platform
  6. Support
  7. Contributing
  8. Library Overview
    1. Basic Configuration
    2. Hardware Drivers
    3. High-Level Capabilities
    4. Applications
    5. Coming Soon

Overview

Feel free to contribute, especially if you find problems (it's all lies, damned lies!). Fix directly or raise the issue on the turtlebot sig mailing list.

  • Migration - what's new and shiny in your hydro turtlebot software!

Contents

  1. Installation
  2. Getting Started
    1. Bringup
    2. Teleoperation
    3. Calibration
  3. Advanced Usage
    1. Navigation
    2. Something Funny
    3. Interesting Software
  4. App Platform

Installation

  1. Installation

    Installation instructions from iso, deb or sources.

  2. Post-Installation Setup

    Customised configuration for your robot setup.

  3. Workstation Installation

    Installing the software for your monitoring workstation pc.

  4. Network Configuration

    Get turtlebot and your workstation chatting to each other.

Getting Started

1. Bringup

  1. TurtleBot Bringup

    How to start the TurtleBot software.

  2. TurtleBot Care and Feeding

    This tutorials explains how to charge and maintain your TurtleBot.

  3. 3D Visualisation

    Visualising 3d and camera data from the kinect/asus.

2. Teleoperation

  1. Keyboard Teleop

    Keyboard teleoperation of a turtlebot.

  2. Joystick Teleop

    Joystick teleoperation of a turtlebot.

  3. Interactive Markers Teleop

    A tutorial describing how to use rviz interactive markers for controlling the TurtleBot.

3. Calibration

  1. TurtleBot Odometry and Gyro Calibration

    /!\ Only necessary if you have a Create base which is using an external gyro. This will show you how to calibrate or test the calibration of a TurtleBot which is highly recommended when running any navigation based application.

Advanced Usage

1. Navigation

  1. SLAM Map Building with TurtleBot

    How to generate a map using gmapping

  2. Autonomous Navigation of a Known Map with TurtleBot

    This tutorial describes how to use the TurtleBot with a previously known map.

2. Something Funny

  1. The TurtleBot Follower Demo

    This describes how to run the TurtleBot Follower Demo on your TurtleBot.

  2. The TurtleBot Panorama Demo

    This describes how to run the TurtleBot Panorama Demo on your TurtleBot.

3. Interesting Software

  1. The TurtleBot Panorama Demo

    This describes how to run the TurtleBot Panorama Demo on your TurtleBot.

App Platform

Before getting started on this section, you may wish to investigate the information and tutorials in rocon_app_platform.

  1. The Turtlebot App Manager

    Getting to know the new app manager - pairing and concert modes.

  2. Turtlebot-Android Pairing

    Pairing your android with turtlebot applications.

  3. Building Existing Android Apps

    Installation and build instructions for existing TurtleBot Android applications.

  4. Create a Robot App

    How to create and install a robot application (rapp) for pairing or concert modes.

  5. Create an Android App

    How to create an android app for robot-android pairing.

Support

For questions about software, please use the standard ways to get support for ROS.

Contributing

  • Software Development - outlines the git based pull-request workflow through which we accept software contributions.

  • Documentation - any effort to help make this wiki documentation clearer will of course, always be appreciated.

Library Overview

1. Basic Configuration

Capabilities

ROS packages

Robot-specific Messages

kobuki_msgs, create_node, turtlebot_msgs

Robot model (URDF)

turtlebot_description, kobuki_description/create_description

2. Hardware Drivers

Components

ROS packages

Actuator Drivers

kobuki_driver, create_driver

Mobile Base Nodes

kobuki_node, create_node

Sensor Drivers

openni_camera, depthimage_to_laserscan

3. High-Level Capabilities

Components

ROS packages

Navigation

turtlebot_navigation

Teleop

turtlebot_teleop

Interactive Markers

turtlebot_interactive_markers

Visualization

turtlebot_rviz_launchers, turtlebot_dashboard

4. Applications

Components

ROS packages

Simulation

turtlebot_simulator

App Manager

turtlebot_app_manager

Turtlebot Apps

turtlebot_apps

Android Apps

turtlebot_android

5. Coming Soon

Components

ROS packages

Manipulation

turtlebot_arm

BDFLs: Tully Foote (OSRF), Melonee Wise (Fetch Robotics)

ROS SW Maintainers: Michael Ferguson (Fetch Robotics), Tully Foote (OSRF), JihoonLee (Yujin Robot), Daniel Stonier (Yujin Robot)

Contents

  1. Overview
  2. About
  3. Preparation
  4. Bringup
  5. Applications
    1. Looking Around
    2. Teleoperation
    3. Navigation
    4. Something Funny
    5. Android Interactions
  6. Simulation
  7. Development Corner
  8. Appendix
    1. Rocon QT App manager
    2. Multi TurtleBot Concert
    3. Other Resources
  9. Contributing
  10. Support

Recently overhauled entire tutorial for indigo (24/03/15).

Overview

  • Migration - what's new and shiny in your indigo turtlebot software!

About

  1. Turtlebot-Developer Habitats

    Various usage scenarios for turtlebots and their developers.

  2. Interacting with your Turtlebot

    The many ways you can provoke/inspire your turtlebot to action!

Preparation

  1. Turtlebot Installation

    Installing software onto the turtlebot.

  2. PC Installation

    Installing the software for your monitoring workstation pc.

  3. Network Configuration

    Get turtlebot and your pc chatting to each other.

Bringup

  1. TurtleBot Bringup

    How to start the TurtleBot software.

  2. PC Bringup

    Connecting to the turtlebot from the PC.

  3. TurtleBot Care and Feeding

    This tutorials explains how to charge and maintain your TurtleBot.

  4. Create Odometry and Gyro Calibration

    /!\ This is only necessary if you have a Create base. The Kobuki comes with a factory calibrated gyro. This will show you how to calibrate or test the calibration of a TurtleBot which is highly recommended when running any navigation based application.

Applications

1. Looking Around

  1. A First Interaction

    Run your first interaction with the turtlebot - chatter!

  2. Visualisation

    Find and call launchers to visualise the turtle and its data streams.

  3. 3D Visualisation

    Visualising 3d and camera data from the kinect/asus.

2. Teleoperation

  1. Keyboard Teleop

    Keyboard teleoperation of a turtlebot.

  2. Joystick Teleop

    Joystick teleoperation of a turtlebot.

  3. Qt Teleop

    Qt teleoperation of a turtlebot.

  4. Interactive Markers Teleop

    A tutorial describing how to use rviz interactive markers for controlling the TurtleBot.

3. Navigation

  1. SLAM Map Building with TurtleBot

    How to generate a map using gmapping

  2. Autonomous Navigation of a Known Map with TurtleBot

    This tutorial describes how to use the TurtleBot with a previously known map.

4. Something Funny

  1. The TurtleBot Follower Demo

    This describes how to run the TurtleBot Follower Demo on your TurtleBot.

  2. The TurtleBot Panorama Demo

    This describes how to run the TurtleBot Panorama Demo on your TurtleBot.

5. Android Interactions

  1. Download Turtlebot Android Apps from Play Store

    Download android apps from Play Store to run turtlebot rapps on your turtlebot via android device

  2. How to Run Turtlebot Andorid Application

    Instructions how to run turtlebot android application

  3. Turtlebot Android Application Dev Tutorial

    Instructions how to develop turtlebot android app

Simulation

Stage

  1. TurtleBot in Stage Simulator

    How to start turtlebot stage simulation

  2. Customizing the Stage Simulator

    Explains how to use your own map with the stage simulator for turtlebot and adjust configurations for your needs

Gazebo

  1. Gazebo Bringup Guide

    See the simulated turtlebot in Gazebo.

  2. Explore the Gazebo world

    Cruise around in the Gazebo world and use RViz to "see" what's in it.

  3. Make a map and navigate with it

    Use the navigation stack to create a map of the Gazebo world and start navigation based on it.

Development Corner

  1. Customising the Turtle

    Pre-load your own customisations/configuration on the turtle.

  2. Create your First Rapp

    Create, load and execute a 'babbler' rapp, and, is it really worth the effort?

  3. Create your First Interaction

    Create, load and execute a 'babbler' interaction.

  4. Adding New 3D Sensor

    Add support for a new 3D sensor to the turtlebot stack.

  5. Adding a lidar to the turtlebot using hector_models (Hokuyo UTM-30LX)

    A revised tutorial for adding a Hokuyo Lidar to the turtlebot, updated for Indigo and uses the hector_models package

Tutorials describing how to develop android interactions can be found in the android corner.

Appendix

1. Rocon QT App manager

  1. Start Rapp with QT App manager

    How to start implementation rapps with Rocon Qt App manager

2. Multi TurtleBot Concert

Teleop Concert

Teleoperate multiple turtlebots!

  1. TurtleBot Concert Bringup

    how to start the turtlebot concert

  2. Bring up Turtlebot as Concert Client

    how to start the turtlebot concert

  3. Teleop a turtlebot via Concert

    how to teleoperate turtlebot in concert

3. Other Resources

The latest officially supported release is for indigo.

2025-10-18 12:17