TurtleBot3 equipment and connections¶
Goal: prepare one complete Burger robot and its network connection. Quantities below are per robot, not the lab's fleet size. Start with the delivered kit's packing list; internal parts are listed for identification, not as additional purchases.
1. Gather the equipment¶
| Equipment | Quantity | Product or reference |
|---|---|---|
| TurtleBot3 Burger chassis, drive wheels and motors, and caster | 1 robot; 2 drive wheels/motors and 1 caster | ROBOTIS Burger parts list |
| Raspberry Pi onboard computer and microSD card | 1 each, included in the complete kit | ROBOTIS specifications — identify the installed Pi revision |
| OpenCR control board | 1, included | ROBOTIS parts list |
| LiDAR with its matching interface and cables | 1 set, included | ROBOTIS sensor and kit reference — identify the installed LDS model |
| Robot battery and matching charger | 1 each | ROBOTIS kit power components |
| Internal power/data cables, power adapter, fasteners, and assembly tools | 1 kit set | Burger assembly instructions |
| Operator computer | 1 available for the session | ROBOTIS PC setup — match the robot's ROS version |
| Network with Wi-Fi for the robot | 1 shared network | ROBOTIS network and bringup guidance |
The standard Burger has no camera. Raspberry Pi and LiDAR revisions vary between kits; use the labels on the delivered robot when selecting instructions or replacement parts.
Optional: OptiTrack tracking¶
Use this only when the session needs external position measurements. It is not required for basic robot connection or sensor checks.
| Equipment | Quantity | Product or reference |
|---|---|---|
| Installed, calibrated OptiTrack camera system and Motive computer | 1 room system, shared | OptiTrack rigid-body tracking |
| Tracking markers and a secure robot attachment | 1 marker arrangement per tracked robot | OptiTrack rigid-body setup |
| Network connection to the tracking computer | 1 connection per participating computer | OptiTrack streaming guide |
Camera count, marker arrangement, and network equipment depend on the installed room system; this is not a shopping list for building a new motion-capture room.
2. Connection map¶
Operator computer
A ROS 2 environment matching the robot. The shared workstation's Ubuntu 24.04 installation does not by itself provide the legacy Foxy environment.
Robot · network connection
- Computer and Raspberry Pi join the same network.
- The Pi connects to the OpenCR board and LiDAR through the kit's data cables.
- The robot uses its matching battery and power wiring.
Optional · room tracking
- OptiTrack cameras connect to the Motive system.
- Motive streams the tracked robot's position to the agreed receiving computer.
- The installed pose bridge makes that data available to ROS.
3. Assemble and connect¶
- Follow the Burger assembly manual for the delivered revision. Keep power off while checking internal connections.
- Check that boards and the LiDAR are secure, wheels turn without catching cables, and no loose wire can touch the floor.
- Have the installer inspect the battery and show the matching charging and shutdown procedures. Keep charging leads out of the driving area.
- Join the robot and computer to the agreed network. Obtain credentials privately from the project owner.
- Label each robot clearly. Keep its address, installed hardware revisions, and software versions in private setup notes.
Next: Basic software.