Status Active


  • Ivan Penskiy (ipenskiy[at]umd[dot]edu)

Important documents and useful links


TurtleBot3 (TB3) is an open source, modular robot platform for research, product development, and educational activities. Its components include 360º LiDAR, Intel Joule single board computer, Intel RealSense R200 3D camera, and a customizable base with DYNAMIXEL servos.

Software setup

Intel Joule board in TB3 can be connected to over WiFi network. The board has Ubuntu 16.04 installed with ROS Kinetic running.


Engineering Annex building 093, Room 0307.


TB3 must be reserved before using. The reservation is done using the NanoCenter reservation system (see details in the Scheduling page).
You will be able to reserve the equipment personally only after being trained on it.
Please estimate reservation times (they can be changed after the fact) and limit your reservations to a 12 hour maximum to ensure other users also have access to the system.

Video demonstration

The following videos demonstrate capabilities of TB3:

TurtleBot3: Overview TurtleBot3: SLAM Demo TurtleBot3: Gazebo Simulation

Note: these are promotional and instructional videos. They are included for demonstrational purposes only. The details of actual operational procedures in RRL can differ!

Important reminders

  • Make sure that the robots do not fall off surfaces.
  • Be generally careful when working with TB3.
  • TB3 runs on Ubuntu 16.04 and ROS Kinetic.

Gaining access to equipment

  • Preparation
  • Scheduling
  • Instruction session

TB3 has several well defined and structured tutorials, consequently RRL expects users to be familiar with TB3 platform specs and capabilities as well as its basics of operation. Specifically, users should have knowledge of the following topics:

  • ROS framework, one should go through the ROS tutorials for basic understanding.
  • ROS packages for running TB3. For instance, this manual provides all the steps necessary to get started on TB3 in ROS.
  • Gazebo simulation of TB3, ROBOTIS e-Manual has tutorials on this.

Once you are confident in the topics from the previous section, email the lab manager (Ivan Penskiy, ipenskiy[at]umd[dot]edu) to schedule the instruction session (30-45 min).

Instruction session:

In the beginning of the session the user will be asked several questions to test the knowledge of TB3 platform and the basics of ROS framework. The user also will have to demonstrate a Gazebo simulation of TB3. The following are the deliverables for the simulation:

  • Spawn TB3 in a map in Gazebo (you can use standard maps from the tutorials).
  • Command TB3 to move in the simulation using keyboard and velocity messages on respective ROS topic.
  • Run Rviz in parallel to Gazebo and show the real-time visualization of the simulation in Rviz.

After confirming knowledge and skills required to operate TB3 platform, the user will be instructed on rules and technical aspects of using TB3 in RRL (network connection, storage, charging, etc).