Speakers

Yoonseok Pyo

Leon Jung

2

Look-back Demonstration of DRC Finals

https://youtu.be/rFV-9PVDzC83

ROSCon 2015

ROBOTIS Framework with ROS…

4

almost of all line-ups
dived intowith over 60 ROS packages

http://wiki.ros.org/ROBOTIS

Yoonseok Pyo, Yoshihiro Shibata, Leon Jung, Darby Lim
10/08/2016 ROSCon2016

We had a meeting with OSRF

7

Index1. Previous Turtlebot Series
Needs & Requirements from Users

2. Turtlebot3
Features and Components

3. Demos

SLAM / Navigation / Visual SLAM / Manipulation

4. Details
More Information of Turtlebot38

Previous versions
Turtlebot1, Turtlebot2

9Previous versions
Needs & Requirements• Small• Low-cost• Fully programmable• Extensible• ROS based open robot platform

10

Turtlebot311

Turtlebot3* Prototype 2.4

12Turtlebot3* Prototype 2.4

13Turtlebot3* Prototype 2.4

Sensor(s)(Realsense, Astra, RPLIDAR, Hokuyo, SICK, etc.)
Battery (11.1v)

Octa-plate x 8
OpenCR for ROS embedded
Motor x 2(Dynamixel-X)

Wheel and rubber tire x 2Ball caster x 2
SBC(ODROID, Intel Joule, Upboard, Raspberry Pi 3, etc.)14

[ Top ][ Bottom ][ Back ][ Right ]

105mm

66mm

190mm

75mm
168mm

Turtlebot3
Components of Turtlebot3 (Default)
•••
•
•
•
•

Chassis: plate, post, pcb base, ball caster, caster holder
Motor: Dynamixel-X series (XL430 or XM430) x 2
Wheel: multi purpose wheel (18x66) x 2
Embedded board: OpenCR x 1
Computer: SBC x 1
Sensor: Distance Sensor x 1
Battery: Lithium-polymer 11.1V 1800 mAh x 1

16Locomotion layer
Chassis of Turtlebot3•••

Small size (ex: octa-plate is smaller than your hand)
Injection molded plates (for low-cost)+ CAD data for 3D printing are opened.
Two-wheeled differential drive, but we will provide
various examples of mechanical customization.

Locomotion layer
Motors of Turtlebot3• ROBOTIS Dynamixel X series• 3 ways for cabling• 6 operating modes: velocity (for wheels),torque, position, extended position, currentbased position, and PWM.
• Networks: daisy-chained RS-485 / TTL18

Locomotion layer
Wheels of Turtlebot3• Use as rubber wheel or caterpillar wheel

For rubber wheel

For caterpillar wheel

19Locomotion layer
OpenCR of Turtlebot3
IMU(MPU9250: Gyroscope, Accelerometer, Magnetometer)
GPIO x 18 JTAG ROBOTIS Sensor pins
Battery charger LEDs
JTAG

Output: 3.3V@0.8A

UART

Output: 5V@4A

CAN

Output: 12V@1A
Output: Battery or SMPS

STM32F746

Power switch

USB
User Button x 3
Reset Button x 1

SMPS input jackBattery input jack TTL x 3 RS485 x 2

ArduinoConnectivity Pins x 32
(GPIO, ADC, I2C, SPI, UART)Perception Layer
Computer of Turtlebot3: Single board computers (SBCs), or PC Modules[SBCs]•Hardkenel ODROID XU4•Intel Joule•Up board•Raspberry Pi 3 Model B•DragonBoard 410c
•Beagle Bone BlackODROID XU4Up board
Raspberry Pi[PC Modules]•Intel NUC•
NVIDIA TK1 dev board
Dragon Board 410CIntel Joule

Perception Layer
Sensor(s) of Turtlebot3: 3D RGBD cameras, 2D laser rangefinders, USB webcams(*we will challenge the Visual SLAM using a Turtlebot3 and a camera)[Distance sensors]•••••••••[Other sensors]

Orbbec Astra•Intel Realsense R200 •RPLIDAR•
SICK TIM LRF•Hokuyo LRF•
Occipital Structure
USB Webcams
IR (PSD or ST VL6180x)
UltrasonicCliff sensor
Bumper sensor
MICsSpeaker
USB Camera

22Perception Layer
ROBOTIS Sensors of Turtlebot3
Ultrasonics Sensor

Humidity & TemperatureSensor

Distance Sensor

IR Sensor

Magnetic Sensor

Color Sensor

Touch Sensor
Illumination Sensor

Gyro Sensor
Temperature Sensor

Passive IR Sensor

Manipulation layer
Manipulation-X for Turtlebot3 (Option)•••••••

Turtlebot +1 layer for Manipulator
for Moveit! users
low-cost manipulator
Gravity compensation
Position, velocity, torque control
4DOF + 1Gripper model
6DOF + 1Gripper model

24

Demos25

DemosSLAM and Navigation / Visual SLAM

https://youtu.be/hX6pFcfr29c

X 10

http://wiki.ros.org/gmappingDemosSLAM and Navigation / Visual SLAM

Gmapping
https://youtu.be/ZoEyCSL_edg

Google Cartographer

X 10DemosSLAM and Navigation / Visual SLAM

https://youtu.be/lOZmFC79S6A

X1

http://wiki.ros.org/navigation

DemosSLAM and Navigation / Visual SLAM29

DemosSLAM and Navigation / Visual SLAM

X4

https://youtu.be/s98e0T3V8Cg

https://youtu.be/BfFXNnRpbMw

LSD-SLAM / J. Engel et al. - TUM (Technische Universität München)Demoshttps://youtu.be/d-1737xFPUADetails

32

Details
Module based model & Assembling film

33

Details
Module based model & Assembling film

https://youtu.be/r3oNIWex8a0

Details
Module based model & Assembling film

https://youtu.be/r3oNIWex8a0

DetailsDefault) 2 Wheels + 2 ball casters

37

Details
Ex 1). 2 Wheels + Segway

http://www.segway.com/products/
consumer-lifestyle/minipro

38

Details
Ex 2). 3 Wheels (steer motor 1ea + drive motor 1ea)39

Details
Ex 3). 3 Wheels + omni-wheel

40

Details
Ex 4). 4 Wheels

41

Details
Ex 5). 4 Wheels(front-steer-motor 2ea + drive motor 1ea)42Details
Ex 6). 4 Wheels + joint motor 1ea (snake style)43

Details
Ex 7). 4 Wheels + omni-drive44

Details
Ex 8 a). 4 Wheels + omni-drive + manipulator-x

45

Details
Ex 8 b). 4 Wheels + omni-drive + manipulator-x

46

Details
Ex 9). 4 Wheels with Dynamixel PRO (scale up version)

47

Details
Ex 10). 4 Wheels (caterpillar)

48

Details
Ex 11). 6 Wheels (special wheels)

49

Details
Ex 12). 4 Legs (real turtlebot style)50

Details
Intel Joule + RealSense version

51

Details
Manipulator-X

52

Details
3D Printability53

Details
3D Printability

https://goo.gl/Om7f9O

54

Details
3D Printability

55

Details
Full Open-source
Hardware•
CAD Data :•(https://www.onshape.com/)

Search “ROBOTIS” or “Turtlebot” (ex: https://goo.gl/Om7f9O)

Circuit Gerber files••

https://github.com/ROBOTIS-GIT/OpenCR

Software•Firmware & ROS packages••

https://github.com/ROBOTIS-GIT/OpenCR
https://github.com/ROBOTIS-GIT/turtlebot3

Welcome to TB3 open-source and your contribution!
56