View Full Version : [News/Announcement] The Robotis TurtleBot3

05-28-2017, 11:56 AM
The Turtlebot3 looks sweet! It is controlled with a Raspberry Pi and OPENCR. It also comes with a 360 LIDAR sensor and it is a open sourced robot! I should be getting mine in a few weeks and I can not wait!



05-28-2017, 01:02 PM
Yes it does look interesting as a good way to learn ROS.

I am tempted to pick up one of these as well. May finally have a garage sale and sell of some of the Robots that are collecting dust (like some Lynxmotion Hexapods, HROS1, ...

But I am also interested in the one coming out from Trossen: https://www.trossenrobotics.com/interbotix-turtlebot-2i-mobile-ros-platform.aspx

I know that Renee has been doing some work in preparation for it shipping as you can see up on their github site:

I like supporting Trossen and there design has a built in arm which could be nice. But I also like the Robotis design where it looks like you can easily mod it and do things like add a track...

I am also wondering about Trossen's plans are for this new platform. They have not posted anything up here about it, nor posted any new blogs... And it is supposed to ship starting next month.

05-28-2017, 01:52 PM
Robotis is unveiling the Turtlebot3 at ICRA 2017 this week and has posted lots of videos about their robot on their youtube channel. So you know what their plans and directions are for their Turtlebot platform. It is a open platform robot using ROS. You can also start buying their robot next week!

Yes, the Robotis platform is design to be modded and to share your ideas to improve it!

05-29-2017, 11:37 AM
I saw the turtlebot2 at the robot block party last month. It looked great!
The arm is nice for something that moves around, because it lets you have more agency.
It's based on Intel CPU tech, which is great for traditional ROS work, but not as fast for the new-fangled machine learning stuff.
(Of course, it's also open/hackable, and you can add whatever you want!)

05-29-2017, 12:57 PM
As I mentioned looks like the Trossen setup could be a fun setup.

The turtlebot 3 initial configurations, looks like it has two main configurations.
a) Burger: with their own robotis board ARM M7 and RPI3
b) Waffle: with same controller M7 board with Intel Joule board processor.

05-29-2017, 02:53 PM

Pictures of the Turtlebot3 from Robogames 2017

05-29-2017, 06:06 PM
Hey, that's a handy size! The "extended 2" that Trossen shows was a lot bigger!

06-01-2017, 02:54 PM
As I mentioned, I am sort of on the fence here on picking up one of these or one of the Trossen new ones.

Hopefully someone from Trossen will chime in at some point (either on Forum) or Blog or... and convince me and hopefully many others to jump on board!

But I am wondering in the mean time if I would be just as well served at least initially if I rolled my own from mostly parts I already have.
Probably would not be as cute as the new Turtlebot3 burger, but could do something like:

Lynxmotion Tri-track (or rover): both have at least two motors with encoders
Roboclaw to control the motors.
Processor: RP3 or Odroid or UP
An IMU: I have a couple different options
Maybe Teensy for something ;)
Lidar Lite (need to put Teensy 2 back in it)

Maybe purchase an Intel Realsense R200 ($100)
Other sensors? Maybe something to keep from falling off stairs?

Actually I wished the mechanism to be able to move up or down two or three steps (6-7" rise)...

Thoughts? If I start playing will probably create new thread.

06-01-2017, 03:39 PM
The kobuki (Turtlebot 2/2i/etc.) already has a rather large userbase and is a fully functional robot vacuum on its own. That also means it has a lot of extra stuff not really required by a small robot, which the Turtlebot 3 does away with. If you are not planning for the robot to do anything other than roam around for education and/or perform navigation/mapping experiments, then the Turtlebot 3 is the cheaper, smaller choice. If you want it to interact with much of its environment, then the Turtlebot 2/2i is still the better choice because of its large base and payload. Not sure how stable the upper levels of the 2i are with the plastic standoffs instead of aluminum, but easy enough to upgrade to larger diameter standoffs and thicker plates if needed to decrease wobbling.

I expect there will be a 2i upgrade kit to let existing kobuki owners to cleanly upgrade to the 2i without buying a new kobuki, which contributes quite a bit to the pricetag.

As for roll-your-own, that is one of the reasons I have been working on my cycloidal gearbox and brushless controller stack. Climbing steps can be accomplished with a rocker-bogie configuration, but might be a bit big and quite tall.

edit again: the tri-star wheel configuration is another option for climbing stairs. It can be used in either two or four wheel-carrier drive to safely climb stairs, depending on whether the rotation of the wheel-carrier is actively or passively controlled, respectively. Thinking two wheel-carrier tri-star was used in an episode of GITS:SAC for a blind child in a wheelchair to climb stairs, and there was an actual wheelchair product using a two wheel-carrier dual-star version (two wheels per carrier, one carrier per side, all actively controlled) available a several years ago before being discontinued. It was never available as a robot base because it had gone through the entire process to be classified as medical equipment, so could not be sold for other purposes without risking the medical equipment classification.

06-01-2017, 05:21 PM
Thanks Tican,

Again lots to think about.

As you mentioned the Kobuki is derived from a full vacuum cleaner system (My assumption is that is not part of this base?), but does some with some interesting and useful sensors, which I believe includes: 3 bumper switches, 3 cliff sensors (IR?) and 2 wheel drop sensors.

What is interesting in the comparisons though is I am not sure I believe specs... Example the Turtlebot 2i says it has a payload of 2KG or 1KG with arm. The T3's Burger says 15KG and Waffle says 30KG. As you mentioned it is a larger platform 351.5mm diameter where the Burger is only 138x178 and the waffle is 281x306. But I wonder with some of these that use casters, how well they work going over different surfaces. Example my office is carpet, but I have a rug over most of it, with tassel, will any of these have issues with it.

Again more fun stuff to think about. May have to look into some of the other wheel configurations.

I also so a few different Track setups that could climb 7 or 8 inch steps. But some of these start at 8K, which may be a bit more than I need... But maybe would be good to investigate what my neighbors are up to. http://www.robotshop.com/en/dr-robot-jaguar-lite-tracked-mobile-platform-chassis-motors.html (actually only 4K for just platform and motors) 7" steps. or one of their higher end: http://jaguar.drrobot.com/specification_V2.asp...

06-01-2017, 06:08 PM
Crap. Forgot that the Kobuki was a bit like the Create in that it dropped all the vacuum hardware for extra payload, battery, and dc-dc power supplies. As for the payload ratings of the Turtlebot3, I expect those are heavily inflated and based entirely on the stall torque of the XM servos and/or 'crush' strength. The sturdier plates should permit a relatively high payload compared to Trossen's small lasercut rovers, but I seriously doubt they can actually move much with even half their rated payloads.

06-02-2017, 04:12 PM
Here is a great example of all of the different versions of the turtlebot3 that have been made. Most of the design files are on the OnShape website now.


06-02-2017, 06:37 PM
So the waffle apparently can carry quite a bit of weight (https://www.youtube.com/watch?v=sIrlEY8V09Q), but it slows it down significantly and negatively affects odometry because of wheel slippage and/or drag from the tiny casters.

06-02-2017, 07:08 PM
Cool stuff,

Wondering about the one shape designs? Can you download them to do 3d prints and/or can you have them printed?
For example I wonder how long it would take to print the Tank parts on my 3D printer...

If I went that way maybe should get another printer :lol: Although I have a friend over in the Teensy land who is trying to entice me with a kickstarter for a 3d printer: https://www.kickstarter.com/projects/robotic-industries/buildone-99-3d-printer-w-wifi-and-auto-bed-levelin/posts/1897889?ref=backer_project_update

06-02-2017, 08:24 PM
For big/complex things, I find it better to have ShapeWays do it. I print anything up to 5" on my Printrbot Simple Metal in PLA, and it works fine for that!

06-02-2017, 08:29 PM
Oh, how I want a MarkForged printer, but that BuildOne Deluxe is something I can actually afford right now. Hopefully it will go as well as the Teensy-3.5/3.6 kickstarter and not the RePhone 3G/4G. A year and a half of waiting to learn it was finally nixed a few months ago with no public announcements of that fact; at least I should get a proper refund in the next couple weeks.

06-02-2017, 08:48 PM
By the way, I hear this one actually prints better than the price would indicate:
http://amzn.to/2snUbQj and http://amzn.to/2sodVmM
Assuming you don't need giant print areas (which then end up taking days to actually print to!)

06-03-2017, 07:43 PM
Product release video.


06-03-2017, 07:49 PM
I backed the kickstarter for the original version of this printer and it was a great little printer for the price! This is a upgraded version at only 299.99.


06-03-2017, 07:54 PM
It is also really easy to create .STL files using OnShape. Click on the link for my tutorial.


06-03-2017, 10:39 PM
Fusion 360 is free for hobbyists, and is an awesome 3D mechanical CAD package.
Once you've built your parts, you can generate them in STL, or as 2D vectors for laser cutting, or you can define all your toolpaths (2D and 3D) for milling.
It's a one-stop robot-making shop!

06-03-2017, 11:42 PM
I'm just going to stick with the BuildOne Deluxe and some HobbyKing ABS. I've got an old RPi-B that is not doing anything, so it will go in the basement with the BuildOne and MegaBatt (4S 20Ah LiFePO4) to provide a print server, print video monitoring, and battery backup.

06-04-2017, 12:11 AM
I thought the question was can you use OnShape to create .STL files because that was where the turtlebot3 files where? Maybe I misunderstood the question but the answer is yes. OnShape is also free to hobbyist.


06-04-2017, 07:45 AM
Thanks Gort,

Yes - I was asking if you could download stuff from onShape as you mentioned that is where Robotis has the turtlebot3 files.

I have not done very many prints lately... But for example if I went with their Tank design it looked like I would be printing for a long time... So also wondered if they also were setup to be able to order the parts.

Again I have not made up my mind what I am going to do yet...

06-04-2017, 10:31 AM
That is a good idea! Setup a shop on Shapeways to print out turtlebot3 parts!

06-04-2017, 12:30 PM
It looks like the base plate is some hole-ey modular monstrosity that you screw together two or more of, so the "part list" may be only one...
And, if so, buying the part from Robotis is very likely much cheaper, because injection molding beats 3D printing for large runs.

Also, what is the OpenCR Cortex M7 board? Google fails.
Looks like a new Robotis board perhaps? But not available in stores yet?

06-04-2017, 02:10 PM
Yep - As you said I would imagine having several of them built by injection molding would be a lot cheaper than 3d.

As for the Open CR board: There is more information up at: http://turtlebot3.readthedocs.io/en/latest/appendix_opencr.html

06-04-2017, 05:29 PM
Yes, the OpenCR is a new board from Robotis. It was design to work with the Raspberry Pi and the Arduino. It is also paired with the new XL430 servo.



06-04-2017, 05:36 PM
7044 70457046

06-20-2017, 10:34 AM
I still have not decided if/which way I will go on this. As I mentioned, I could simply go with existing Rover (Lynxmotion or Orion) and use one (or two?) Roboclaws (I picked up one of their current 7amp version, may pick up 15...), plus ...

Or either the Robotis or Trossen versions. Sure wish we would hear more about the Trossen plans...

Interesting tidbit that was posted on the PJRC(Teensy forum), That Intel is discontinuing the Galileo, Edison and Joule boards.... So wonder what both Robotis and Trossen are going to do as replacement:

One posting about this is up at: https://hardware.slashdot.org/story/17/06/19/1720201/intel-quietly-discontinues-galileo-joule-and-edison-development-boards

06-20-2017, 10:44 AM
Looks like Intel is getting out of the IoT business! Below is the road path for the Galileo, Galileo 2 and Joule.

June 16, 2017 – Product Discontinuance Program Support Begins
July 16, 2017 – Product Discontinuance Demand To Local Intel Representative
September 16, 2017 – Last Product Discontinuance Order Date
September 16, 2017 – Orders are Non-Cancel-able and Non-Returnable After
December 16, 2017 – Last Product Discontinuance Shipment Date

Why would anyone buy the Robotis TurtleBot 3 Waffle and Trossen TurtleBot 2i now?


06-20-2017, 11:42 AM
Doubt it means much of anything other than Intel finally realizing they got into the mobile/embedded/IoT world too late and too half-assed. If they skipped the Edison and instead released the Joule modules a couple years ago, then they might have managed to compete with the RPi. There are plenty of ARM boards that compare relatively well to the Joule 570, and most already have all the USB, A/V, ethernet, and storage connectors already populated instead of needing custom shields through tiny board-to-board connectors. If a full x86-64 platform is needed to avoid ROS on ARM, there are still plenty of small PCs that can work with the Kobuki and might even be able to fit into the burger.

06-20-2017, 11:54 AM
This is sad for the people who invested in the Intel offerings, for sure. Trossen and Robotis are probably not happy right now.
I suggest that the Raspberry Pi 3 is probably the best bet for low-end robotics; the price is right, and the board is quite powerful enough for most robotics algorithms, including visualization and SLAM.

06-20-2017, 12:41 PM
Of course, the RPi3 does not have USB3 and only 1GB of RAM, which might cause trouble with the Realsense cameras. Assuming they do not get discontinued as well.

06-20-2017, 01:13 PM
There are also several other Intel based products out there... Like UP... (As I have mentioned I already have an UP, sometime next month my UP2 should arrive. Plus I currently am supporting the kickstarter for UP core (https://www.kickstarter.com/projects/802007522/up-core-the-smallest-quadcore-x86-single-board-com/posts/1916625?ref=backer_project_update)

The Edison was an interesting platform, the problem I ran into was they had did not do a very good job of supporting it software wise as well as add on hardware support.

06-20-2017, 01:52 PM
I really wonder who at Intel thought the Edison would ever do well. The low-power mobile/android/linux with wireless connectivity market has been dominated for many, many years by a huge ARM ecosystem, so there was no real chance of gaining influence there. The high-performance mobile/android/linux with wireless connectivity still had plenty of room for x86 processors a couple years ago, but not so much now with quad/octo-core ARM in 64-bit, built-in peripheral hardware, and greater software support. Guessing a bit of it is Intel being a fab instead of just licensing the platform to others like ARM does.

06-20-2017, 01:59 PM
The TurtleBot3 Burger will be fine because it uses the Raspberry Pi 3.


06-20-2017, 04:29 PM
there was no real chance of gaining influence there

I think there could have been, if they had:
1) Been price competitively.
2) Interfaced natively with common standards (3.3V/5V I/O, USB, display, at a minimum, plus on-board wireless)
3) Been power competitive at equal or better performance..
4) Commitment to skilled software engineers supporting it in an ongoing fashion post-sale.

1) and 2) are important for hobbyists, 1) and 3) are important for actual system wins, 4) is something that Intel just hasn't learned how to do. They're a hardware vendor; the support ends when the hardware ships; the hardware is considered obsolete when the manufacturing lines stop making the chips. That world may have worked 30 years ago, but it will be the undoing of Intel in the modern, software-defined, connected-forever world.

06-20-2017, 05:01 PM
As I mentioned I thought Edison was interesting... I started to play with them when HR-OS1 mentioned that was the main processor.

It has Wifi and BT built in. It was nice programming the board over wireless and the like.

Yes you needed their Arduino board to be able to do 3.3v or 5v and the IO was slow. It was really slow to change the IO pins directions as it required a couple of (trying to remember if it was I2C or SPI) changes to external chips to change the configuration...
But I could live with that.

What killed it for me was 4)

Examples: As I mentioned things like pinMode() and digitalWrite() were real slow... I found ways to speed some of these up a lot (like half the time maybe less) and submitted it to them... It took maybe 6 months to a year before anything showed up in a build...

SPI - The spec showed that it could run at a very high speed, but actually an Arduino did circles around it... And each release the broke it worse...

But really killed it for me, was their support people were basically not allowed to tell the customers anything. Like they might say the engineers tell me that have fixed the SPI problem (not which one) locally. But they can not tell you if it will be released with the next release nor when they expect the next release...

Could go on, but as I said 4) :8

07-12-2017, 07:50 AM

07-16-2017, 12:13 PM
Have you been able to burn the bootloader with arduino IDE and the OpenCR Board? I think you are to connect the OpenCr board with USB to the Remote/Laptop PC an set it into DFU mode but I get uploading faults doing it this way?

07-16-2017, 09:37 PM
Is this what you are trying to do?


07-16-2017, 10:40 PM
Uploaded my TurtleBot3 Build videos. The link to all 5 videos is below:


https://youtu.be/3mm3nNgAfJM?list=PLM7oigWuoEynDn3t62axYxxzffOCPB65 X

https://youtu.be/syYNz5VItyY?list=PLM7oigWuoEynDn3t62axYxxzffOCPB65 X

07-17-2017, 06:19 AM
Yes step Is the USB to be connected to the host/remote PC to the turtlebot. If its to be connected to the host in order to upload
or is this to remain connected to the turttlebot3. Even if I connect the usb from the OpenCR Board and run like Instructions say I get this Error:
Arduino: 1.8.1 (Linux), Board: "OpenCR Board, OpenCR Bootloader"

Sketch uses 171192 bytes (21%) of program storage space. Maximum is 786432 bytes.

Global variables use 43928 bytes of dynamic memory.

An error occurred while uploading the sketch

/home/ubuntu/.arduino15/packages/OpenCR/tools/opencr_tools/1.0.0/linux/opencr_ld: 1: /home/ubuntu/.arduino15/packages/OpenCR/tools/opencr_tools/1.0.0/linux/opencr_ld: Syntax error: "(" unexpected

This report would have more information with

"Show verbose output during compilation"

option enabled in File -> Preferences.

07-17-2017, 11:03 AM
An error occurred while uploading the sketch

/home/ubuntu/.arduino15/packages/OpenCR/tools/opencr_tools/1.0.0/linux/opencr_ld: 1: /home/ubuntu/.arduino15/packages/OpenCR/tools/opencr_tools/1.0.0/linux/opencr_ld: Syntax error: "(" unexpected

This error means one of a few things:

1. The tools for this board are not correctly installed.
2. The tools for the board are installed in the wrong Arduino version.
3. There are also other tools for other boards installed, that conflict with these tools.
4. The tools have a bug that affects the version/OS you are using (looks like Ubuntu?)
5. The correct board is not selected in the IDE menu.

It's hard to tell which one it is without further debugging.

07-25-2017, 10:59 AM
(NOTE) The OS Ubuntu MATE does not install with ssh enabled. You must use systemctrl enable ssh to turn it on.
Also on your ubuntu/home machine you must have a PATH set to your arduino localtion in your .bashrc file
(i.e ) export PATH=$PATH:/home/XXXXX/tools/arduino-1.8.1 (https://github.com/ROBOTIS-GIT/OpenCR/wiki/Arduino_Setup_Windows)

11-17-2017, 02:12 PM
I got my Burger up and running, I like it. Here is a good idea on the size difference of a turtlebot2 and a Turtlebot3. :wink:
(note) I noticed in the Arduino IDE for the OpenCR Board, that it only needs to be in DFU mode to up load a boot-loader in ACM0 then after a reset. You can reconnect on ACM0 an then you can upload the example turtlebot3 core.

11-22-2017, 12:56 PM
Hey. Hey Hey I got the rpiv2 camera up and running :wink:. I had issues getting the ROS pi camera node up and running.
It would seem you must use the raspi-config tool to turn the camera on first, somehow this was missed on the
Install Notes Under Applications for the Raspicam ros node package. But now I can add the camera image to rviz, yea......
(Note) I noticed the keyboard Teleoperation works but the Joystick examples were not working. It seem the permissions
are not set correctly on the Remote/PC, here is the answer I found that worked: http://wiki.ros.org/joy/Tutorials/ConfiguringALinuxJoystick
It is a Indigo solution but works ok fine.
For the xbox360 joystick the deadmans switch is the big center button number 8.

12-01-2017, 04:27 PM
Oh. You will need heat sinks for the raspberry pi or it will overheat and lock up and I almost forgot Firfox seems to be inoperative out of the box (after a update and upgrade it crashes, maybe it will be fixed in a future release of ubunte-mate) but for now, I just installed synaptic (sudo apt-get install synaptic) and then used it to install the Chromium Web Browser and sudo apt remove firfox. Then you are good to go to the turtlebot3 webpage. :o

12-08-2017, 04:45 PM
Has anyone found any information on the RTC clock on the OpenCR board?
The battery seems to be a standard rtc battery and connector and it seems to be the same as the rtc clock battery and connector used on the UP2 sbc.

12-08-2017, 08:02 PM
Schematic says connector on the OpenCR is Molex 53047-0210 and RTC hardware is integral to the STM32F746 just needing a 32.768kHz crystal. You will need to check the STM32F746 datasheet to confirm the permissible input voltage range on the VBAT pin that is connected to the backup battery header. Datasheet or reference manual should have more on getting useful information from the RTC hardware, unless it is already included in the OpenCR firmware.

12-29-2017, 07:08 AM
It seems that ROBOTIS has expanded there FAQ section 23 to include: how to Enable a SSh server on the Raspberry PI.:tongue:
Still they have not explained why a working web browser is not supplied.
Note. For the Turtlebot3, the Master resides on the remote PC vice the robot.
This makes for easy simulations, as the robot need not be turned on to run them.:wink:

01-12-2018, 08:29 PM
This is new http://turtlebot-3-blockly-wiki.readthedocs.io/en/latest/
The erle robotics are helping out. The setup.bash seems to be missing so it is probably not ready for the public yet, but soon I am sure.:tongue:
Ah, Ha! It is now under Learn on the http://emanual.robotis.com/docs/en/platform/turtlebot3/overview/ Web Page.
Ha, the Link was taken down. I am thinking there are some issues to be worked out here as the applications will not compile. :sad:
And it is back up, but still not working as the setup is in the wrong place, oh I am sure it will get fixed LOL

01-21-2018, 04:06 PM
That seems a little odd. I was updating a new burger with some XM-430's and noticed that you can not ssh into the turtlebot3 if you
go into headless mode with the raspi-config tool even though you have ssh enabled.
I was trying it out as I have noticed some latency issues with a gui desktop running on the pi in the past and was going to do some timing tests. (Note) These xm-430's are like the xl-430, just a little faster like 10 rpm LOL but, holy cow, there like a block of aluminum :o.
I like it!

01-21-2018, 05:22 PM
I am still interested in the waffle, but looks like they are no longer available. My guess is do to the Intel Joule no longer being sold...
I had the impression that they may be going to one of the UP boards, but so far I have not seen anything...

Wonder with the SSH. Maybe there is something running that is eating up to much of the CPU resources?

01-21-2018, 07:21 PM
I think it is the opposite in this case. The only resource hog is the system updater which has to time out before you can do a apt-upgrade, which works, Yea! :rolleyes: I saw you trying to get them, to get cracking on a release for the up2 :veryhappy: but that was months ago.
I am setting up my burger with a nice usb camera and using the NVIDIA TX2 as the
remote PC since it does all the heavy computation and http://www.jetsonhacks.com/category/jetson-tx2/
has some nice help for booting to a ssd disk drive an getting started with some caffe stuff. So off to the races.....:cool:

01-21-2018, 08:19 PM
Oh, Oh I noticed that the turtlebot3_applications will not compiling.:genmad:
(Note) The errors were 2, one was the missing laser-filter, then there is a programing error in the Panorama code.
I am thinking it will get fixed soon, but for now I cannot get the applications to compile.

01-21-2018, 09:02 PM
At this point I am just curious what their plans are... The Nvidia stuff could be interesting... But would settle for some default configuration.

01-26-2018, 08:14 AM
My only question is how are they showing these application demo's when the applications will not compile?
Are there some fakers going on here? :confused:

01-26-2018, 09:55 AM
Wondering: does it not compile on the NVidia? Does it compile on the RPI3?

Maybe differences in system files?

Or maybe someone forgot to update some other files they changed and/or included... Just guessing... I have been known to do something like that from time to time.

01-26-2018, 10:13 AM
Hum, I hear ya. I see someone changed something in the Panorama code, but if I were changing code on a shipping product one would
think a check of some sort would be done LOL. I guess the bottom line is: everything else is working. Yea!:wink:

01-30-2018, 09:23 AM
Oh hell Look out they have updated the turtlebot3 package added some new features and broke it at the same time.
(NOTE) I deleted the tb3 files and down loaded new and using the catkin_make -j2 option they now can compile with out locking up.
:cool: I had to use synaptic to download the dependency file Interactive_markers that was missing to compile with out error.
This code seem to be a moving target and I can not keep up LOL.

01-31-2018, 07:00 AM
Everything is compiling today. Yea!! Now lets see what is new . :tongue: (Applications compiled too.)
A new section 25. Appendix #Raspberry Pi Camera , and maybe a new turtlebot3 waffle Pi? :cool:
Seems that Robotis is going to build a Waffle with the Raspberry Pi3 and a V2 camera.

02-14-2018, 07:27 PM
I see blockly is back under Learn, I hope they fixed it this time.:eek:
I used this on my erle-robotics spider (out of production at this time) .
It seems there really pushing forward with the PI3 for the Turtlebot3.:wink:

02-14-2018, 08:46 PM
I was emailing with Robotis (US site) about some other things I mentioned I was interested in the Waffle and
the support persons response mentioned that it looked like there would be a new release with RPI3 and a camera and it should be announced and released in March...

02-15-2018, 10:42 AM
Cool, This is a good time to learn ROS as the ROBOTIS folks have released a FREE book.
Look under Notice and News and you must sign up for a Robot Source Account but then you can download this New book in PDF.
I have only started reading it but it appears from a quick read to be done very, very well.
I would go so far as to say, it is the best I have seen.:rolleyes:

02-18-2018, 09:15 PM
I am not totally sure but it would appear the new Turtlebot3 waffle pi will come with a hard copy of there new Book “ROS Robot Programming, A Handbook that is written by The TurtleBot3 Developers”
and is to be release next week or tomorrow.:veryhappy:

02-19-2018, 08:30 AM
Will keep my eyes out... Still would prefer it if they went with something like an UP board... But could always start of with RPI3 and see where it takes me...

02-21-2018, 08:25 AM
Looks like you can now order the Waffle PI; http://www.robotis-shop-en.com/?act=shop_en.goods_view&GS=3304&GC=GD070003

It costs less than the original waffle, replaced joule with RPI3 replaced the Intel 3d Camera with RPI camera

02-25-2018, 06:51 PM
I would guess after the problems with intel cancelling the Joule and abandoning the v1 realsense api they wanted to stay as safe as possible and you can't get safer than the Pi. It would have been great to see Up boards being used but the kernel support is still very lacking for much of their V1 hardware so its understandable.

03-02-2018, 03:16 PM
FYI - I pre-ordered the waffle rpi today :D

And it shipped today as well!

03-03-2018, 08:58 AM
LOL and now the waiting begins. :happy:
Other than no heat sinks for you PI, I believe you will be happy .

03-03-2018, 09:22 AM
Thanks - Yes...

Will start off with their default setup.

May later purchase something like: https://www.mouser.com/new/Intel/intel-realsense-robotic-dev-kit/

Which for about $200 gives you an UP board (4MB/32MB) and the Realsense R200 camera... Which I think is the same camera stuff
they were using in the Waffle (UP instead of Joule)

03-03-2018, 12:33 PM
Nice, The only problem that Robotis seems to have is that the web-page people don't appear to be actual TB3 programmers and are not communicating with the programmers well. The Examples, are a good example. There is no turtlebot3_example dir, it is the turtlebot3_patrol directory... ect. The examples work you can set up your Master computer now if you wish. All you need is UBUNTU 16.04 and follow there instructions. Use the fake TBS3 of your choice .:wink:
(Note use git pull on your source TURTLEBOT3 directory and the other directories and the example directory is there now. yea!!)

03-05-2018, 02:33 PM
How about that! The Remote controller for the TB3 from ROBOTIS the (RC-100B) has its code built into the tb3 OpenCR board so you can remotely control it pretty much anyplace, like a remote controlled car, but unlike the Ubuntu joystick code there is no dead mans switch.
The Xbox controller is attached to the remote PC, so you must stay within WiFi range, but works with a fake TB3 so, very useful.:tongue:
Just saying this is fun seeing more and more working with ROS and the TB3.

03-08-2018, 07:55 PM
Look at step 7 http://emanual.robotis.com/docs/en/platform/turtlebot3/overview/ there is a second RPI3 image were, they have pre-installed ROS and the ROS-packages related to the TurtleBot3. It supports the TurtleBot3 Burger and Waffle Pi model. In this distro image, non-free software like Wolfram, Mathematica, Minecraft Pi and Oracle Java SE have been removed. It feels pretty sold like the Raspberry PI Desktop modified and then a image made.:happy:
(NOTE) I tried out this distro on my TB3 burger and it works really well, without any issues that I can see so far.

03-17-2018, 06:54 AM
It looks like ROBOTIS USA has released there TBS Waffle PI, Yea!:cool:
I love my TB3 Burger but there is little to no room to add more sensor improvements,
like the Movidius neural Compute stick.:veryhappy:

03-17-2018, 09:28 AM
Yep - I have mine mostly built... Now to setup the RPI... In the wings I also have the Intel R200 development package with an UP board (64gb 4gb), which I will probably swap in later, once I understand the current stuff...

Yes the Waffle looks like it has a lot more space to hang things!

Edit: trying to decide for now if to go with Ubuntu Mate on the RPI3 or with the Raspian that they already have ROS and tools already installed on it. May start of with the Raspian, but...

Also finally tried buttons 1 and 2 on their board to move N inches foreword and turn 180 degrees, which worked, but not easy to reach them buttons!

03-18-2018, 01:31 PM
I now have it assembled and starting to test some stuff out... :D

It is sort of interesting in either I am missing seeing some write ups some place or maybe they should maybe write up some more instructions for the new user. Luckily I am not a complete novice and can usually figure things out.


a) One of the the first steps (5) is to assemble the turtlebot in my case the waffle. Then they have you in step 7 setup the SBC in this case the RPI3... This step they tell you where to download the image from and what app to use to burn the SDCard. But that is about it. So once you have the micro sd card with the image on it, you need to insert it into the RPI3, which is buried between levels 2 and 3... and my not overly nimble fingers could not get it into the slot... So had to unscrew deck 3... to make it so I could reach the slot...

b) How to make this into a headless setup? With the initial image you typically need a Mouse/Keyboard and HDMI setup... There may be ways to do it without all of the above, but a lot easier... Again hard to reach into plug into USB... Then run through the steps to boot, setup your wifi, enable ssh, expand out the image to the full size of the SDCard...

c) Power: I don't believe there was anywhere that told you, that you could plug in the wall wart into the board to power it as you are doing non mobile stuff... Battery: they mention you should remove the battery to charge it, but don't give/show instructions on how to. I ended up looking at schematic to make sure the power plug looked like a valid place to plug in to... Also with Battery, not sure if they give you any hints or support to know when the battery charge is getting low? I have not seen any battery monitor and their charger only connects up to the balance plug and leds only show it is charging or it is charged.

d) Bluetooth: They include their pretty primitive remote control with two bluetooth modules. They sort of mention that the slave one should plug into the OpenCR board, but don't say how/where... The image made it look like you should maybe try plugging it into maybe one connector which it would plug into, but I believe is something like a Canbus. Turns out I think you are supposed to plug it into one of the Usarts on the other end of the board. Again I guessed Serial2, which worked. Again would have been difficult to plug it in if I still had decks 2 and 3 connected.

Again I am probably being a bit too picky... Will probably either post some of this up on Robotis and/or email them.

Now to have some fun!

03-18-2018, 07:15 PM
When the power gets to 11.0v on the battery you will hear the buzzer go off on the OpenCR board, it is a UPS system so just plug the 12v power supply with adapter into the OpenCR board and you can take the battery out with out even shutting down.
I'm thinking during this phase of your build them bigger plates are a pain.
The RC100 software is built into the OpenCR Board. A Large part of there code in the TB3 core software is dedicated to this little controller, I plugged mine into the UART1 port. Unlike the Xbox360controller, this one you simply turn it on and your connected. Hint the right flipper (Button 5 I believe) cancels the present operation, you will like it after you play with it a while. This is the same controller that ROBOITS has used for years just the Latest Generation.:wink:
(NOTE. The little wires off of the LIDAR that connect to the UBS adapter are really, really delicate, so think hard before disconnecting and reconnecting this little sub miniature molex to usb device more than even once. I am thinking a dollop of hot glue here might be good.)

03-20-2018, 01:01 PM

I have played around a little with the RC100 controller. It is real primitive. I have tried it out to control the PhantomX, but much prefer other controllers. i.e. ones that have real joysticks... Will play some with it, but will probably move it to either PS3 or 4 type controller.

The lidar is working. so will be careful not to remove it. If I do need to remove probably better to pull out rivots and unplug usb instead.

Looks like everything is coming up... I decided to go back to use Ubuntu instead of Debian image as I ran into issues with Debian after I did a apt-get update/upgrade... The ROS code would not compile anymore. It was missing some package. Could not tell if it was expecting the Python version of it or if the developers... l

Still wondering when I will switch over to the UP board with the R200 camera... Will probably work though some of the stuff in the book first to regain what I used to know on ROS and hopefully fill in the blanks for the things I missed.

Then maybe see about some enhancements, like how to make sure if I let the rover try to explore the main part of my main floor, to not fall by trying to go down some stairs. I assume someone has probably already done this in the past, not sure yet which way to try... Maybe a simple IR sensor at the front...

03-20-2018, 09:27 PM
Grats! The Book is worth it's weight in gold.:tongue:

03-23-2018, 04:26 PM

I have been somewhat distracted the last few days, but am slowly plugging along. Yes there is a lot of good stuff in the book.

Last night I skipped foreword in the book to read more about the OpenCR board. Lots of interesting information. It is a nice board i7 running up to 200mhz, a nice IMU...

I am also learning more about how it integrates with ROS, which is very interesting. That is the actual firmware code on the OpenCR board for the turtlebot is actually setup to work with ROS topics... That is for example the setup code looks like:

void setup()
// Initialize ROS node handle, advertise and subscribe the topics

// Setting for Dynamixel motors

// Setting for IMU


// Setting for ROBOTIS RC100 remote controller and cmd_vel

// Setting for SLAM and navigation (odometry, joint states, TF)


prev_update_time = millis();



setup_end = true;
So it is advertising and subscribing to topics... The chapter than goes into the glue of using ROS Serial (in this case RosSerial_python) as the glue. It then describes how the data is encoded to talk over the USB Serial connection to the OpenCR board... Still lots more reading and experimenting to go!

I am still getting back into the hang of doing development using a linux main computer (versus windows 10).
I am very used to using PuTTy or KiTTy to do the SSH. Which there are lots of interesting things I like.
But it is not to bad on Ubuntu to just type: ssh raspi-turtle
And have it connect...

Also I am very used to using WinSCP to then browse the files on the RPI and then double click and edit... But again not bad on Ubuntu either, in fact can be easier:

Have a directory named RPI
then do command: sshfs raspi-turtle: RPI
Then I can simply cd RPI and I am talking to the FS on the RPI and I can use whatever editor I want on the main machine (currently sublimetext)...

So again getting my feet wet again on the Linux world and now the Turtle!

03-25-2018, 06:22 AM
Got the Intel Movidius neural Compute sticks running on the Raspberry PI3 B+ :rolleyes: using the ROBOTIS image. It just needed it's
source files updated. Will move it into my turtlebot3 now. I am hoping that the 802.11AC will give me a little more than twice the bandwidth. Also Working on ROS for the Intel sticks next, but this puts caffe, tensorflow and a host of fun A.I on the PI. This might
mean a larger capacity Lipo, Hum things to consider.

03-25-2018, 01:09 PM
Sounds good. Just for the heck of it, I did order one of the new RPI3 B+ from Sparkfun. Was wondering if the wifi might be faster also mentioned better handling of heat.

Will be interesting to compare actual speed. Wonder if it is still limited by funneling everything through logical USB 2 path...

03-25-2018, 02:21 PM
FWIW, the Pi can run AI without the compute stick, too. Not on the GPU (which is sluggish) but the main CPU has Neon support and four cores.
I've run a convolutional network (about size 200x100) in caffe2 on the Pi at 90 Hz (pipelined across three cores) so it's totally possible, depending on model size!
(That being said, the Movidious probably gives you the ability to run larger models, as long as you can funnel the input data to it fast enough.)

04-03-2018, 11:34 AM
FYI - The RPI2B+ arrived yesterday...

I tried to first install Ubuntu but the system would not boot... So installed Raspian... So what all are you using the compute stick for?

Need to get more focused on working through the Book and other stuff and then start making changes!

Too many distractions: Like playing with the openCM 9.04...

04-03-2018, 07:31 PM
Oh, yea the new RPI3B+ needs a fast sd card or it will not boot, I only had 2 out of 5 that were fast enough class 10's to boot lol.:o
(NOTE. I was totally wrong here read on)

04-03-2018, 09:07 PM
I also read that there were kernel changes needed to get it to boot, that need to be incorporated. I believe some got it to work by copying some stuff from raspian

04-04-2018, 02:02 PM
Movidius Neural Compute Stick

The Neural Compute Stick (NCS) is a tiny computer meant to accelerate the execution of neural networks. The entire hardware is packed into a USB-stick which is compatible with USB 2.0 or later. Internally, the NCS uses a so-called Vision Processing Unit that goes by the name of Myriad 2. This relatively new kind of micro-processor is specifically made for machine-vision related tasks and thus very energy-efficient. According to the manufacturer, the typical power consumption of the VPU is around 1 Watts. I got two of them working together and got some idea's from dj sures EZ-robot stuff.
Bottom line is I can ID things and use espeak to announce what the robot see's. I.e (I see a man sitting in a cluttered room :genmad:)
(Note. I got a right and left right angle usb extender from Amazon.com
I am not sure which I am using, right or left but it works as a great extender on the burger)

04-04-2018, 06:53 PM
That is annoying. I had to set up the SD card for the RPI3 before it would boot on the new RPI3B+. Hum?:confused:

04-05-2018, 07:59 AM
That is annoying. I had to set up the SD card for the RPI3 before it would boot on the new RPI3B+. Hum?:confused:

Running Raspian or Ubuntu or ???

04-05-2018, 01:22 PM
The Raspian desktop image from Robotis works with the RPI3B running it first, I'll give the Mate version a test today.
(Note Tested it out and the Ubuntu Mate version will not boot at all on RPI3B+.:confused:)

04-05-2018, 02:52 PM
When I was looking around, I saw posts like: https://www.raspberrypi.org/forums/viewtopic.php?t=208538

04-05-2018, 07:39 PM
Yikes hum, it looks like July before a new Ubuntu-Mate or one can go through acrobatic connotations for Ubuntu-Mate now, hum:rolleyes:.
Nope I'll wait on that one. Thanks for the heads up. This will most likely push ahead the 18.xx what ever, release of Ubuntu-Mate a bit I'll bet though.

05-12-2018, 12:09 PM
I did a direct swap out of the intel joule and the new up board, I did have to add a edimax AC wifi dongle, it uses the rtl8812au which is easy to find drivers for, so I got Dual AC WiFi up and running. Bottom line ubuntu 160.4 and all the turtlebot3 files and everything installed just fine, woot, woot!:tongue:

05-12-2018, 12:36 PM
Sounds great - As you know I also have the same UP board and R200 camera, which I keep meaning to get everything back in one piece again.

I keep having too much fun playing at some of the lower levels.

That is, before I let my waffle Pi (or now waffle up) wonder around and map the area, I did not want it to fall down stairs. So I have been playing with a set of range sensor, that I can mount to look down... So then spent some time figuring out how to mount these... I have some 3d printed brackets I will try installing soon, but need to work on the wiring. I had one of the I2C objects working, but these sensors have fixed address, so then have I2C Mux breakout from Adafruit... So can use up to 8...

I then spent time adding code to Arduino to read the sensor and generate new ROS Topic... This is helping me understand how the RosSerial stuff works with the Arduino code base... Got that up and running. Could use the rostopic echo command to watch values...

But then looked some more and there are sensor settings defined for CLIFF, so will remap these values into the CLIFF stuff...

But then diverted myself on some other OpenCR stuff, and made a few Pull Requests into the code base, plus several others were done for Issues I submitted. Also docs updated... More stuff about this up on

Robotis Forums, including the thread: http://en.robotis.com/service/forum_view.php?bbs_no=2406779&page=3&save_sca=&sca=&save_stx=&stx=&sfl=

And likewise up on RobotSource: https://community.robotsource.org/t/convert-a-turtlebot3-waffle-pi-to-use-up-board-with-r200-camera/1397/9

Note I am spending more energy up on those forums lately.

Also I have been monitoring the ROS Discourse as well, they just announced an open manipulator for the TB3...


05-12-2018, 02:29 PM
Sweet, I missed the manipulator, this should be fun.:wink:
(dude you do way more programing than most so, rock on)!!
I mean with spring here and all.:o
I will have to head on over there and see that you have been up to.

05-20-2018, 10:50 AM
I don't remember... I should try it again in the next few days. Been playing around with other stuff. Third deck is sitting on table next to it right now...

Too many distractions. Like now being able to program the the OpenCR board while it is connected to UP (or RPI), from my Windows PC or Ubuntu machine. More up on RobotSource.

Hopefully this morning will play some more with adding sensors. I had it most the way there, but Robotis is planning to add several sensors in the next few weeks, so was trying to decide if I will continue with my I2C range finder sensors or work with an Analog sensor, not sure yet which one they are using.

With the HLS, first thing I might look for is there some udev rules that it needs? Might look at your RPI and see if there was one installed?

05-20-2018, 11:19 AM
Woot! Woot! I am happy to say everything seems to be working on the Up board with a dual band A/C wifi dongle, and did not have to add on thing more to swap out the intel joule on the waffle with the new up board. Going to spend the rest of the day playing, Yes!:cool:
(Note. Yes it was the rules that needed to be applied and a reboot, I can not wait for you're cliff detection, great idea.)

05-22-2018, 08:54 AM
I am glad you have it all working!

With the cliff detection stuff, I have code setup currently in simple test app, that currently can read three of the VL6180 (https://www.adafruit.com/product/3316)sensors from Adafruit. They are I2C devices that by default all have the same address... So I also have one of the Adafruit I2C Multiplexer (https://www.adafruit.com/product/2717), I currently have them all in a breadboard and it appears like the test app is working.

Next up is/was to mount the devices (I actually have 4 of them). One above and slightly in front of each of the Wheels, probably one toward center of front and maybe one toward center of back.

But I know that Robotis is planning on doing something similar, As mentioned on RobotSource (https://community.robotsource.org/t/convert-a-turtlebot3-waffle-pi-to-use-up-board-with-r200-camera/1397), which the Robotis Pyo mentioned they will be adding sensors this month. They mention using IR sensor using Analog inputs... So I ordered 4 of the Robotis distance sensors, but they have range of 10-80cm, so might have to mount them with extenders from Top deck.
Or maybe get some other IR sensors. Again most of the Sharp sensors are in the 10+cm range. Some or shorter distances, but are 4.5-5.5v range. Luckily the OPenCR IO pins are 5v Tolerant but in analog mode everything about 3.3v registers as full value.

The benefit of using their sensors, is that they come with their standard 5 pin connectors and maybe some easy method to mount...

So currently deciding how best to integrate...

Also wondering about mounting the OpenCR on the upper deck of the waffle, as to make it easier to hit the B2 + reset when I need to reprogram and it won't go into program mode. Also maybe mount an LCD on it. Probably would imply that I need to update several configuration things to make ROS happy (position of the IMU vs center...

I am sort of going in slow motion on this as so many other things to do outside!

05-22-2018, 06:49 PM
Wow! Sweet thank you for sharing:veryhappy:.

05-22-2018, 09:33 PM
So I now have three other options that I ordered that shipped today.

I have 4 of the Robotis Distance sensors: Distance Measuring Sensor DMS-80
Distance Measuring Sensor DMS-80

I have 4 of the Robotis IR sensors: IR Sensor IRSS-10

I have 4 of the #2450 Sharp GP2Y0A51SK0F Analog Distance Sensor 2-15cm from Pololu, They want input voltage 4.5-5.5V so will see how well they work at 3.3v...

So hopefully within the week I will have a few options :D

05-25-2018, 07:29 AM
I thought i would mention, that Robotis released a new update for the Turtlebot3 code base. They announced it in:

Here is some of the information:

Thank you to all who loved TurtleBot3 for the past year
We celebrated the first anniversary of TurtleBot3 and prepared software and firmware updates and more powerful WiKi
This update considered may issues and requests from users. We are sincerely thankful to them.
TurtleBot3 can get even better through a lot of interest. So please feel free to suggest any functions or ask questions into our issue page in github
New Software version is 1.0.0
New Firmware version is 1.2.0
1. List of Software updates
(1) turtlebot3
• Add cartographer
• Add frontier_exploration
• Add frontier_exploration
• Add hector mapping
• Add karto SLAM
• Update gmapping parameters
• Update navigation parameters
• Modified version check
• Add robot model for OpenManipulator and turtlebot3_autorace
(2) turtlebot3_simulations
• Add world for turtlebot3_autorace
• Add world for turtlebot3_machine_learning
(3) turtlebot3_applications
• Add turtlebot3_automatic_parking
• Add turtlebot3_automatic_parking_vision
2. List of Firmware updates
• Add example to use additional sensors as Bumper, Infrared sensor, Ultrasonic sensor, illumination sensor and additional GPIO as LED
• Add debug code for firmware developer

I have been playing around with some of it with their develop branch... Looks like time to sync up everything!

05-27-2018, 08:21 AM
Yea! Thank you for the heads up.:wink:
I order a few sensors to play with, now that i am all updated, seems you had a lot to do with making this happen, thank you.

05-27-2018, 02:15 PM
I am trying to help out, as a way to learn things.

I hope my pestering them, is helping to improve things as well.

Over the last few days, I have been playing around with some some different sensors, including a few from them as well as a small range IR sensor by Sharp (picked up from Pololu), I think for now I will settle on using their IR sensor as I think it will work. I need to print up some simple brackets to hold them on. The sensors already have the 6mm brackets setup to use with their rivets. So I think I can mount them with rivets probably to the 2nd deck that extends it out, probably to over each wheel and maybe one on front and Rear.

I am looking over how best to integrate them. The new release added some sensors, but so far they are simply as example and not really on how to use them. Like one Cliff, two bumpers, one sonar which all may simply return real values for cliff and sonar and uint8_t for bumpers

So I will try to ask them, how they would prefer this to be extended/customized.

Currently a bunch of things are hard coded, like the Cliff sensor uses the OLLO objects on ollo connection 2 (hard coded #). I would like to make these defined in the configuration info.

Then for cliff, would like to then setup to use some Ros parameters to maybe define some cliff states... Lots to play with!

06-10-2018, 08:48 AM
Odd, while building a new TB3 I could not get the motors ID#one and two to work.:sad:
I only had to program them on the U2D2 and set the ID's before.
This time I had to use the Arduino Example code turetlebot3_setup_motor to set the right and left Dynamixel's up. This seems to be
requiring you install the Arduino IDE now. It is all good, just a heads up.

06-10-2018, 02:29 PM
Thanks for the heads up.

I have not had not tried to have the wheels turn for a bit as I am still playing with the firmware for the openCR board.
I have another SPI port working on the external connector (pins 57-60).

Right now trying to cleanup/enhance their SPI code. Might later do as well with another I2C device Probably on pins 62, 63
Maybe another USART on Pins 50,51, but that would require changing the code for talking to Servos from using USART3 to instead UART4 (the actual physical pins support both)

06-10-2018, 05:18 PM
Not sure if anyone is interested, I extracted the alternate pin information from the processor manuals for the OpenCR and combined it with the Arduino pins information, to be able to see what functionality each physical pin has the ability to do...


07-03-2018, 07:39 PM
Kurt, i'm thinking about getting a rovor as a platform to develop some ROS experience. Are you happy with the Turtlebot3? Would you recommend it vs more home made options? It's only real purpose would be for learning. No functional tasks are really necessary.

07-03-2018, 08:56 PM
I am having fun with it. Lately been doing more with the underlying board (OpenCR). I will get back to doing main turtle stuff soon.

You can obviously do it either way. It is sort of nice having a setup that has other users and a set of developers who are able to answer questions.

07-04-2018, 10:20 AM
Just a thought but, getting ROS and a turtlebot up and running with a book that covers you're platform, and written very well, is a
amazing deal. It's the documentation that I like to read over and over until I get it. :rolleyes:

07-10-2018, 07:50 AM
Just a thought but, getting ROS and a turtlebot up and running with a book that covers you're platform, and written very well, is a
amazing deal. It's the documentation that I like to read over and over until I get it. :rolleyes:

And thought I would mention, they also have created a new online ROS course for beginners:

And also mentioned up at:

I will probably soon start playing through this course... Just finished updating their boards SPI and Wire libraries.... Now need to reassemble Turtle... But first work on water system :o

07-11-2018, 11:16 AM
Ah that's great. I think i'm going to get my hexapod until its "final" configuration, then check this out. Thanks

07-22-2018, 12:41 PM
Looks like ROBOTIS has a new disk image for the TB3 out and, a firmware update to (v1.2.1) :wink:

10-02-2018, 11:21 AM
Thought I would mention, that ROBOTIS has been busy with the TB3.

Right now I am going to try using an RPI3+ as I fried the UP board I had on it... Something about supplying 12v to the Expansion connector pins, it did not like :( I plugged the power pins into wrong connector on OpenCR3 board... I have another UP board I will probably use again soon.

But thought I might take this opportunity to try moving over to ROS2, as this appears to be the direction that Robotis is taking, plus the underlying ROS2 communications is setup to use standardized and more secure communications, which will be supported on Linux as well as Windows and MAC.

There is more information talking about running the Turtlebot3 using ROS2 up at:

And the Turtlebot3 E-Manual has a section on it: http://emanual.robotis.com/docs/en/platform/turtlebot3/applications/#ros2

Assuming I actually get comfortable with ROS2, maybe over time it would be fun to make a version of ROS Hexapod code base that uses ROS2, plus uses the OpenCR to control a lot of the functionality, in much the way that it does for the Turtlebot3...
As I mentioned on the thread: http://forums.trossenrobotics.com/showthread.php?17856-Phantom_Phoenix-on-OpenCM-9-04&p=94287#post94287 I have my MK3 PhantomX working with an OpenCR board.

12-21-2018, 10:08 AM
This is my Burger now with voice and vision ;)
I found this: RASPIAUDIO.COM Stereo onboard speaker with Sound Card (AUDIO+SPEAKER) for Raspberry Pi Zero/Pi3/PI3B/PI3B+/Pi2/ with Better quality than a USB device, on amazon that really works well as a hat that does not take up much space and works well , yea!
Merry Christmas all! (Note! This model is out of Production now):genmad:

02-03-2019, 08:34 PM
I printed out and put the tire and caster configuration from the turtlebot3 friends Carrier, onto my tb3 to see if it would help with getting up onto carpets. It worked and works, giving me just enough clearance and traction to go places like the living room rug, yea!

04-07-2019, 05:10 PM
I have had issues with rubber products and the dry hot air of Arizona ( just nasty to most plastic's). Anyhow when I printed
out these wheels they have three groves in them that are exactly the size of screen door spline, as i had just replace my screens I had
some extra and holy cow they fit perfectly. So using a rc race car trick i glued them on and presto. :cool:
(Note this does mess with the odometer settings as we be trucking now :cool:)

05-07-2019, 10:00 AM
I noticed that most, if not all the TB3 files are now on ROS Melodic Ubuntu 18.04 :happy:
Has anyone tried running the TB3 on Ubuntu 18.04 yet?
I have this new SBC the Jetson NANO. I configured it to boot off of a USB 500GB Drive,
and it would be the cats meow for development with a TB3.
I did notice the only dependencies still missing are the gmapping and interactive-markers packages.
I will keep my eyes out for them. :cool:
(Note. This is the article I used to set up the SBC, and it worked perfectly)


05-07-2019, 01:58 PM
What's your experience with the Nano? Have you compared it to other boards?
I kind of don't see what Nvidia wants with the Jetson Nano. It's the quad core ARM from the Jetson TX1 with half of the GPU of the TX1. It's an old GPU architecture (Maxwell) and as such not particularly energy efficient for what it does.
It's three times the price of the Raspberry Pi 3, so it has no way to compete for "cheap linux." It's a quarter or less of the throughput of the TX2, although it does have a smaller form factor.
Is it actually "the sweet spot"?

05-07-2019, 02:56 PM

The fan was overkill as I have never been able to get it hot enough to turn on:sad:
Once booted onto the USB this is a full on speed demon with V2 camera and as far as I can tell a raspberry PI GPIO or
something unbelievably close to it. Still playing but I have the full melodic desktop working and am pretty happy so far.
Check out jetsonhacks he is working hard on the board as well.
"The Nano is roughly twice the cost (you don't need a case to keep it from throttling), roughly twice the performance,
4x the RAM, and uses the same power as a Pi 3B+. That's a win, in my book!"




05-08-2019, 12:16 AM
And a built-in real-time clock chip, so you don't get the wrong time on boot like with the Pi ...
Worth the price just for that :-)

05-21-2019, 08:52 AM
LOL and unfortunately there is no RTC (Real Time Clock) on this model.:tongue:

05-21-2019, 12:18 PM
Because saving 25 cents (https://www.digikey.com/product-detail/en/nxp-usa-inc/PCF85063TP-1Z/568-10236-2-ND/4022740) was totally worth the hassle of invalid file system timestamps ...

Every hat/attachment to any Pi connector should contain an RTC ...

07-12-2019, 11:30 AM
I am now cheering for the PI4. I have the Raspbian Desktop Image up and running but No ROS image and I could not get that ROSberryPI http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Kinetic%20on%20the%20Raspberry% 20Pi to run so I am still looking. :wink:

07-12-2019, 11:48 AM
Sounds Good - I just received a 2gb board, have an SD Card, and wall wart power... But don't have right HDMI cable... Should arrive later today or so.

Trying to decide to try Raspian or Ubuntu.

07-12-2019, 07:24 PM
Also wonder if any of you have tried to run your RPI 3 or 4 using SSD Drives instead of SD Cards?
Like for example what is described in: https://jamesachambers.com/raspberry-pi-ubuntu-server-18-04-2-installation-guide/

Looks like it might be interesting to try...

08-11-2019, 05:47 AM
Yea, once Ubuntu officially supports Buster things will really take off.
I am not sure when that is.:confused:

02-29-2020, 06:36 PM
It looks like Ubiquuity has a image for the rpi4.:wink:
Note (I should note that this is Loaded with ROS Kinect 16.04.)
For a direct download:


04-07-2020, 02:57 PM
There is a new ubuntu-mate-desktop for 18.04 for the rpi4. :tongue: