The TurtleBot3 Burger is the entry-level platform in ROBOTIS's TurtleBot3 family — a compact differential-drive robot widely used for ROS 2 education, SLAM, and navigation. It carries a 360° LDS-01 laser scanner on a two-wheel chassis with a single caster, making it a clean, minimal target for learning the full ROS 2 stack without the complexity of arms or extra sensors.
ROS 2 description package for the TurtleBot3 Burger. Ships the URDF, the Gazebo SDF, and meshes inside one bundle.
cd ~/ros2_ws
colcon build --packages-select turtlebot3_burger_description
source install/setup.bashUsing robot_state_publisher + ros_gz_sim create:
ros2 run robot_state_publisher robot_state_publisher \
$(ros2 pkg prefix turtlebot3_burger_description)/share/turtlebot3_burger_description/turtlebot3_burger.urdf
ros2 run ros_gz_sim create -name turtlebot3_burger -topic robot_description -x 0 -y 0 -z 0.1Or include it in a world SDF:
<include>
<uri>model://turtlebot3_burger_description</uri>
<pose>0 0 0.1 0 0 0</pose>
</include>ros2 run ros_gz_bridge parameter_bridge \
/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist \
/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan \
/imu@sensor_msgs/msg/Imu[gz.msgs.IMU \
/odom@nav_msgs/msg/Odometry[gz.msgs.Odometry \
/joint_states@sensor_msgs/msg/JointState[gz.msgs.Model \
/tf@tf2_msgs/msg/TFMessage[gz.msgs.Pose_VSee launch/example_spawn.launch.py for the full launch file.
ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.1}, angular: {z: 0.3}}"| File | Purpose |
|---|---|
turtlebot3_burger.urdf | ROS description (RViz, MoveIt, robot_state_publisher) |
model.sdf | Gazebo description (sensors, plugins, diff-drive) |
model.config | Gazebo model manifest |
meshes/ | STL meshes shared by both formats |
hooks/ | colcon env hooks — auto-prepend share/ to GZ_SIM_RESOURCE_PATH |
| Footprint | m |
| Wheel radius | m |
| Wheel separation | m |
| Max linear vel | m/s |
| Max angular vel | rad/s |
| Lidar | 360° LDS, ~5 Hz |
Differential drive kinematics (, are wheel speeds):
Apache-2.0. Meshes and platform from ROBOTIS.