TurtleBot 3 Burger RPi4 2GB: ROS Compatible Robot
TB3 Burger RPi4 2GB: ROS Compatible Robot
TurtleBot 3 Burger RPi4 2Gb is a small, affordable, programmable, ROS-based mobile robot for use in education, research, hobby and product prototyping. With TurtleBot 3 Burger RPi4, the old Raspberry Pi 3 has been replaced with a higher-performance Raspberry Pi 4, aiming to create a more performant mobile robot without sacrificing functionality and quality.
TurtleBot 3 Burger RPi4 mobile platform is frequently preferred in SLAM and Navigation applications. With 2D lidar (LDS-01 replaced by LDS-02 in TurtleBot 3 RPi4) and an externally supplied Kinect or Stereo camera, data can be collected and a robot with the desired structure can be created with appropriate algorithms. The Burger mobile robot has a ready-made model on ROS Gazebo and motion scenarios can be pre-realized on this simulator.
TurtleBot 3 Burger RPi4 is a next generation mobile robot that is compact and customizable, similar to the Waffle Pi. This programmable robot from Robotis includes a Raspberry Pi 4 that can run ROS and Ubuntu on it. It runs on Apache 2.0 and is completely Open Source. Another interesting feature is that it is possible to 3D print the robot elements or buy them ready for assembly. Turtlebot3 Burger runs on Ubuntu Linux (13.04.2 LTS) and the latest versions of ROS (Kinetic). Besides using ROS to control the robot, you can also program additional behaviors on the robot using C/C+ functions and Arduino libraries.
Layered Structure of TurtleBot 3 Burger Mobile Robot
All sensors offered by Robotis also work on Turtlebot3 Burger. Except Lidar, it is possible to run other sensors by attaching them to the Burger: motion, temperature, color, contact sensors...
The structure of TurtleBot 3 Burger is fully modular, the shape you give it is limited only by your imagination. Both TurtleBot3 models (Burger and Waffle Pi) have a 2D lidar that allows you to implement SLAM (simultaneous mapping and localization) and autonomous navigation algorithms and are basically controlled via Raspberry Pi.
o The first layer contains the Dynamixel XL430 servos and the battery.
o The second layer has an OpenCR controller that mainly controls the motors but can be used for many different purposes.
o The third layer contains the Raspberry Pi 4 2GB.
o The top layer is the 360-degree leader (LDS-02) of the TurtleBot3 Burger.
Fully assembling the Turtlebot3 Burger can take 1 to 2 hours (half the time of the Robotis Turtlebot3 Waffle).
ÖZET
| Tech Features | Burger |
|---|---|
| Max Linear Speed | 0.22 m/s |
| Max Rotational Speed | 2.84 rad/s (162.72 deg/s) |
| Max Payload | 15kg |
| Boyutlar (L x W x H) | 138mm x 178mm x 192mm |
| Weight ( SBC + Battery + Sensors) | 1 kg |
| Climbing threshold | 10 mm or less |
| Expected working time | 2 hr 30 min |
| Expected Charging Time | 2 hr 30 min |
| SBC (Single Board Computers) | Raspberry Pi 4 2Gb |
| MCU | 32-bit ARM Cortex®-M7 with FPU (216 MHz, 462 DMIPS) |
| Remote Control | - |
| Actuators | Dynamixel XL430-W250-T |
| LDS (Laser Distance Sensor) | 360º LDS-02 |
| Camera | - |
| IMU | Accelerometer (3 axis) Magnetometer (3 axis) Gyroscope (3 axis) |
| Expansion Pins | GPIO 18 pins Arduino 32 pins |
| Peripherals | UART x3, CAN x1, SPI x1, I2C x1, ADC x5, 5pins OLLO x4 |
| Dynamixel Ports | RS485 x 3, TTL x 3 |
| Audio | programmable 'beep' squence |
| Programmable LEDs | User LEDs x 4 |
| Status LEDs | Board status LED x 1 Arduino LED x 1 Power LED x 1 |
| Buttons & Switches | Push button x 2, Reset button x 1, Dip switch x 2 |
| Battery | Lithium polymer 11.1V 1800mAh / 19.98Wh 5C |
| PC Connections | USB |
| Firmware upgrade | USB / JTAG |
| Power (SMPS) | Input : 100-240V, AC 50/60Hz, 1.5A @max Output : 12V DC, 5A |
Dimensions
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| Supplier Product Code | : | 02.04.084.005 |
