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TurtleBot is a ROS standard platform robot. There are 3 versions of the TurtleBot model. The last version, TurtleBot3, was developed with features to supplement the lacking functions of its predecessors, and the demands of users. The TurtleBot3 adopts ROBOTIS smart actuator DYNAMIXEL for driving. TurtleBot3 is a small, affordable, programmable, ROS-based mobile robot. The TurtleBot3 can be customized into various ways depending on how you reconstruct the mechanical parts and use optional parts such as the computer and sensor. In addition, TurtleBot3 is evolved with cost-effective and small-sized SBC that is suitable for robust embedded system, 360 degree distance sensor and 3D printing technology.
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[[_TOC_]]
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# Working with turtlebot3 burger
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## burger description
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Turtlebot3 burger is the smallest turtlebot3 mobile robot. It is composed of 2 DYNAMIXEL servomotors (one for each wheel), 1 OpenSource control card (OpenCR ARM Cortex-M7), 1 Raspberry Pi3, sensors for the navigation with 360° LiDAR.
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<img src="./images/burger1.jpg" width="500" height="300">
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## specification
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## requirements
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+ Max translational speed: 0,22 m/s
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+ Max rotational speed: 162,72°/s
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+ Max payload: 15 kg
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+ Size: 138 × 178 × 192 mm
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+ Weight: 995 g
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+ Autonomy: 2h30 (Lithium Polymer Battery 11,1 V 1800 mAh/19.98 Wh 5C)
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+ Input: 100-240 V, 50/60 Hz CA, 1,5 A @ max
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+ Output: 12 Vcc, 5 A
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+ 3-axis gyroscope
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+ 3-axis accelerometer
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+ 3-axis magnetometer
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+ 360° LiDAR
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## getting started
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# Working with turtlebot3 waffle with arm
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## waffle description
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Also the TurtleBot3 can be used as a mobile manipulator capable of manipulating an object by attaching a manipulator like OpenMANIPULATOR. The OpenMANIPULATOR has the advantage of being compatible with TurtleBot3 Waffle and Waffle Pi. Through this compatibility can compensate for the lack of freedom and can have greater completeness as a service robot with the the SLAM and navigation capabilities that the TurtleBot3 has
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## requirements
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## Specification
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## getting started |
