Turtlebot3 Unmanned vehicle

Burger/Waffle-Pi/Labox

Waffle Pi is a new mobile robot in the Turtlebot3 series, which was officially released in February 2018. Waffle Pi adopts a retractable frame structure, uses Arduino-based OpenCR as the driver board, and uses a powerful Raspberry Pi 3 single-board computer, equipped with 360° Lidar, Raspberry Pi camera and 9-axis inertial measurement unit, with high precision The Dynamixel steering gear can easily achieve accurate control of mobile robots, and can be used for research and exploration in the fields of SLAM, positioning and navigation, mobile operation, automatic driving, item identification, and tracking.

Features

ROS operating system: Officially designated ROS platform, an entry-level platform for ROS beginners. It adopts the world's popular open source platform for robots with abundant resources. Software information is fully open to customers. Provide "ROS Robot Programming" supporting experimental teaching materials and course handouts ppt.

Light weight, high bearing capacity: Hamburg has a weight of 1KG and a load capacity of 15KG; Waffle Pie has a weight of 1.8KG and a load capacity of 30KG.

Multi-sensor information fusion integration: 360 degree lidar, raspberry pie camera (waffle pie has), 9-axis inertial measurement unit, use raspberry pie and OPENCR control board, support Arduino。

Friends series: Applications such as tracked, balanced cars, four-wheel drive racing cars, and four-legged robots can be realized by modifying hardware modules.

Open source hardware: Provide a wealth of peripheral interfaces to connect various sensors. Modular drive allows easy replacement, maintenance and reorganization. PCB, BOM, 3D CAD and other data are fully open to customers.

Technical index

Technical parameters

TurtleBot3 hardware configuration comparison table

Name	Burger	Waffle Pi	LABOX
Degree of freedom	2	2	7
Maximum translation speed	0.22 m/s	0.26 m/s	0.26 m/s
Maximum load	15kg	30kg	30kg
Robotic arm	——	——	OPM-X
operation hours	2h	2.5h	2.5h
Dimensions (L x Wx H)	138mm x 178mm x 192mm	281mm x 306mm x 141mm	281mm x 306mm x 521mm
Self weight (+SBC+battery+sensor)	1Kg	1.8Kg	2.5Kg
Single Board Computer (SBC)	Raspberry Pi 3 Model B
Microcontroller (MCU)	32-bit ARM Cortex^®-M7 with FPU (216 MHz, 462 DMIPS)
remote control	——	RC-100B + BT-410 Set (Bluetooth 4, BLE)	RC-100B + BT-410 Set (Bluetooth 4, BLE)
Lidar	360° Lidar LDS-01
camera	——	Raspberry Pi Camera Module v2.1	Raspberry Pi Camera Module v2.1
Inertial Measurement Unit (IMU)	Three-axis gyroscope, three-axis accelerometer, three-axis magnetometer