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ROS Catkin package to use different URDF configurations for the Turtlebot 2


  1. Make your catkin workspace:
    1. mkdir -p ~/catkin_ws/src
    2. catkin_init_workspace ~/catkin_ws/src
    3. catkin_make -C ~/catkin_ws
  2. Clone this repo to your workspace:
    1. git clone ~/catkin_ws/src
  3. Source your workspace
    1. source ~/catkin_ws/devel/

Viewing the Robot Model

  1. Run ROS core:
    1. roscore
  2. Launch the robot model
    1. source ~/catkin_ws/devel/
    2. roslaunch turtlebot_custom_description robot_model_.8m_tall.launch
  3. Launch rviz
    1. source ~/catkin_ws/devel/
    2. rosrun rviz rviz
  4. Configure RVIZ

Robot Models

  1. Turtlebot2 Kobuki Astra:
  2. Turtlebot 1.2m tall:
  3. Turtlebot Quanergy M8:


ROS WIKI Xacro Reference

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