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Turtlebot software architecture

asked 2015-07-29 17:25:58 -0600

goupil35000 gravatar image

Hi, I installed turtlebot with a ros-indigo-desktop-full installation under ubuntu 14.04. I'm able to use it with turtlebot robot but I have to modify it to be able to use with another robot.

I was able to find information about the hardware, about how to use the robot ( ) but I didn't find the architecture of the software.

Is there any information about software of turtlebot (not to use it but really how it is organized) ? Where can I find the source files ?


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answered 2015-07-29 18:13:38 -0600

luketheduke gravatar image

The software architecture is the same as most robots in ROS: you have stacks, packages, and nodes. The hierarchy is like this:

Turtlebot Stack|(Stack)
               |-Turtlebot Teleop(Package)--------|- Keyboard teleop(node)
               |-Turtlebot Bringup                |-logitech teleop

All of the turtlebot code is in multiple github repositories here: If you are planning on porting the software to another robot, you might want to consider somehting like the arbotix drivers as they deal with a simpler protocol as the turtlebot uses the Kobuki base protocol. Hope that helps,

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Hello Luke,

Thanks for your reply. I got the packages but I think that an analysis has been done to define the architecture of the stack. Maybe someone has published it somewhere ?


goupil35000 gravatar image goupil35000  ( 2015-07-30 03:31:02 -0600 )edit

I have also been searching and I can't seem to find the architecture layout either. Now that I'm actually working on a Turtlebot, I'm encountering the same issue of lack of documentation...

luketheduke gravatar image luketheduke  ( 2017-03-23 16:22:38 -0600 )edit

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Asked: 2015-07-29 17:25:58 -0600

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Last updated: Jul 30 '15