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Intermediate build

How to build TurtleBot3

2-DoF wheeled rover · Intermediate

TurtleBot3 is ROBOTIS' ROS reference mobile robot: DYNAMIXEL wheels, an OpenCR board and a Raspberry Pi, in Burger and Waffle Pi versions. Apache-2.0 software.

Start the buildProject files
Difficulty
Intermediate

Some soldering, calibration and Linux comfort needed.

Build time
2–4 weekends

Our estimate, part-time

Parts cost
$758

$758.20 for the ROBOTIS kit, per the catalog listing

Degrees of freedom
2

Apache-2.0 (software; hardware declared open, no license)

What is TurtleBot3?

TurtleBot3 is the standard ROS teaching robot from ROBOTIS. It comes in two main versions: the small Burger, with XL430 wheels, and the larger Waffle Pi, with XM430 wheels, a camera and a remote.

Both use an OpenCR 1.0 board under a Raspberry Pi and modular 'waffle plate' chassis parts.

ROBOTIS calls the hardware open-source and publishes Onshape CAD, but names no license. The software is Apache-2.0.

TurtleBot3 specifications

Burger wheels
2× XL430-W250-T
Waffle Pi wheels
2× XM430-W210-T
Controller
OpenCR 1.0
Compute
Raspberry Pi

Figures as published by the project. See Sources below.

Bill of materials

PartQtyNotes
Burger or Waffle Pi chassis plates1 set
DYNAMIXEL XL430 (Burger) or XM430 (Waffle Pi)2
OpenCR 1.0 + Raspberry Pi1
LDS lidar1
BT-410 + RC-100 remote—Waffle Pi only
Where's the full bill of materials?

The full BOM, with exact quantities and vendors, lives in the project's own files. Prices change often, so treat $758 as a ballpark from the project. Start at the project repository.

Tools you'll need

  • Screwdrivers (included)
  • Ubuntu PC with ROS 2

Step-by-step build overview

Electronics & wiring overview

The OpenCR drives the DYNAMIXEL bus and IMU and connects to the Pi over USB. The lidar connects to the Pi.

LiPo batterypower sourceLaptop / PChigh-level control2D LiDAR + camerasensingRaspberry Pireal-time controllerServo bus adapterdrivers / busDynamixel XL430 servos2 joints / motors
PowerData / commandsSensor feedbackOverview only. Follow the project's own schematic for pinouts and voltages.

Software

URDF model

ROBOTIS-GIT/turtlebot3 (Apache-2.0).

Tips from the bench

  • ☕ Try the Gazebo version first, because the same launch files run on hardware.

TurtleBot3 FAQ

Burger or Waffle Pi?

Burger is cheaper and smaller. Waffle Pi adds a camera and payload space.

Sources

Written by Bots n' Beans from the project's own documentation. Check the sources for the latest revision before you buy parts.

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