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Customizing a turtlbebot3 with larger wheels

asked 2020-08-11 07:18:44 -0500

stevensu1838 gravatar image

Hi, I've got a Turtlebot3 Waffle Pi and extra waffle boards but this robot is too small for my application. I am trying to put on larger wheels and make the robot twice as long and twice as wide. Could you please tell me what do we need to change in the offcial ROS turtblebot package after customizing the turtlebot waffle to a larger one? I still want to do LSD laser sensing and SLAM. But the position of the LDS will be higher and the distance between wheels will be bigger. How does these changes influence the use of the open source ROS turtblebot package? Thank you so much in advance.

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answered 2020-08-11 11:25:31 -0500

You'll need to modify the URDF for your new relative poses of things and potentially wheel meshes if you want your simulated version to look like your real version. The simulated version will also need updated wheel radius / separations for the differential drive controller plugin.

For navigation, you'd need to change the footprint appropriately.

Then the TB itself has an embedded board that will need to be aware of the changes. For the burger it looks like this file has the constants ( you'd need to update and then reflash. See ROBOTIS documentation on the OpenCR board for that.

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Asked: 2020-08-11 07:18:44 -0500

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Last updated: Aug 11 '20