Asset Library/Turtlebot3 Burger
Robot

Turtlebot3 Burger

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.

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turtlebot3_burger_description#

ROS 2 description package for the TurtleBot3 Burger. Ships the URDF, the Gazebo SDF, and meshes inside one bundle.

Build#

bash
cd ~/ros2_ws
colcon build --packages-select turtlebot3_burger_description
source install/setup.bash

Spawn in Gazebo#

Using robot_state_publisher + ros_gz_sim create:

bash
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 0.1

Or include it in a world SDF:

xml
<include>
  <uri>model://turtlebot3_burger_description</uri>
  <pose>0 0 0.1 0 0 0</pose>
</include>

Bridge topics#

bash
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_V

See launch/example_spawn.launch.py for the full launch file.

Drive it#

bash
ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.1}, angular: {z: 0.3}}"

What's inside#

FilePurpose
turtlebot3_burger.urdfROS description (RViz, MoveIt, robot_state_publisher)
model.sdfGazebo description (sensors, plugins, diff-drive)
model.configGazebo model manifest
meshes/STL meshes shared by both formats
hooks/colcon env hooks — auto-prepend share/ to GZ_SIM_RESOURCE_PATH

Specs#

Footprint0.105×0.1050.105 \times 0.105 m
Wheel radius rr0.0330.033 m
Wheel separation LL0.160.16 m
Max linear vel0.220.22 m/s
Max angular vel2.842.84 rad/s
Lidar360° LDS, ~5 Hz

Differential drive kinematics (ωL\omega_L, ωR\omega_R are wheel speeds):

v=r2(ωR+ωL)ω=rL(ωR−ωL)v = \frac{r}{2}(\omega_R + \omega_L) \qquad \omega = \frac{r}{L}(\omega_R - \omega_L)

License#

Apache-2.0. Meshes and platform from ROBOTIS.