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SBC Setup

WARNING: Setup work requires Power and Time. So battery is not suitable. We recommend using SMPS (AC adapter) during this work.

NOTE: We are offering three models of TurtleBot3. TurtleBot3 Burger and Waffle Pi use Raspberry Pi 3 B and B+, and TurtleBot3 Waffle uses Intel Joule 570x. Choose from the following pages according to the SBC used in your model.

NOTE: If you would like to use Windows on your Turtlebot3, you’ll need to separately acquire a Windows 10 Enterprise compatible Single Board Computer, and adapt it to the turtlebot power supply.

Raspberry Pi 3

NOTE: Use either of 3 ways to install Linux and ROS on Raspberry Pi 3

  1. For Ubuntu Mate installation, read Install Linux (Ubuntu MATE) guide. Be sure to install ROS and dependency packages after installing the Linux images on SBC of TurtleBot. The instruction takes about 1 hour to install ROS and related packages for TurtleBot3.
  2. For Linux distro image installation based on Raspbian, read Install Linux (Raspbian) guide. You do not have to do additional installations as the distro image contains ROS and ROS packages related to TurtleBot3.
  3. For webOS Robotics Platform, read webOS Robotics Platform guide. You do not need to compile packages on TurtleBot3. They will be cross-compiled using OpenEmbedded on a higher performance PC, Ubuntu 18.04 based and an image file created from them.

NOTE: Raspberry Pi 3 B+ is available in TurtleBot3 Burger and Waffle Pi. If you use Raspberry Pi 3 B+, please refer to the following.

  1. Install Linux (Ubuntu MATE)

  2. Install Linux (Raspbian)

  3. Install Linux (webOS Robotics Platform)

Intel Joule 570x

[Windows] Windows 10 SBC

NOTE: ROS on Windows was brought up using Up2 and an Intel Nuc.

  1. You can download a trial of Windows 10 IoT Enterprise Long Term Service (LTSC) from the following link:
  2. Please refer to the ROS Wiki instructions for installing ROS on Windows.
  3. Please install the CP2102 Driver from SI Labs in order to communicate with the Lidar.

Before starting to work with turtlebot3 with a Windows 10 Single Board Computer, you’ll need to identify which COM port the lidar and OpenCR board are mounted on. To do this, visit the Windows Device Manager - which you can access by right clicking on the Start Menu icon, and selecting Device Manager and locate the COM port associated with the Lidar and OpenCR board.

Then modify the following files:

turtlebot3_bringup/launch/turtlebot3_core-win.launch

<node pkg="rosserial_python" type="serial_node.py" name="turtlebot3_core" output="screen">
    <param name="port" value="COMx"/>

turtlebot3_bringup/launch/turtlebot3_lidar-win.launch

 <node pkg="hls_lfcd_lds_driver" type="hlds_laser_publisher" name="turtlebot3_lds" output="screen">
    <param name="port" value="COMy"/>