Datasets:
| { | |
| "schema_version": "1.0", | |
| "id": "turtlebot3_burger", | |
| "name": "ROBOTIS TurtleBot3 Burger", | |
| "footprint": { | |
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| }, | |
| "height": 0.192, | |
| "height_class": "h36", | |
| "drive": "differential", | |
| "limits": { | |
| "v_max": 0.22, | |
| "v_min": -0.22, | |
| "vy_max": 0.0, | |
| "w_max": 2.84 | |
| }, | |
| "lidar": { | |
| "model": "ROBOTIS LDS-02", | |
| "range_min": 0.16, | |
| "range_max": 8.0, | |
| "fov": 6.2832, | |
| "beams": 360 | |
| }, | |
| "sources": { | |
| "footprint": { | |
| "kind": "official", | |
| "url": "https://github.com/ROBOTIS-GIT/turtlebot3/blob/humble/turtlebot3_description/urdf/turtlebot3_burger.urdf", | |
| "method": "every visual geometry of the URDF (joints = 0) projected onto the floor of frame 'base_footprint' at 1 mm, outer outline, simplified to 1 mm (hm3d robots import-urdf)" | |
| }, | |
| "height": { | |
| "kind": "official", | |
| "url": "https://emanual.robotis.com/docs/en/platform/turtlebot3/features/" | |
| }, | |
| "limits.v_max": { | |
| "kind": "official", | |
| "url": "https://emanual.robotis.com/docs/en/platform/turtlebot3/features/" | |
| }, | |
| "limits.v_min": { | |
| "kind": "estimated", | |
| "method": "The manufacturer only publishes the maximum speed; the maximum reverse speed is assumed equal to it." | |
| }, | |
| "limits.vy_max": { | |
| "kind": "official", | |
| "url": "https://emanual.robotis.com/docs/en/platform/turtlebot3/features/", | |
| "note": "differential drive" | |
| }, | |
| "limits.w_max": { | |
| "kind": "official", | |
| "url": "https://emanual.robotis.com/docs/en/platform/turtlebot3/features/" | |
| }, | |
| "lidar": { | |
| "kind": "official", | |
| "url": "https://emanual.robotis.com/docs/en/platform/turtlebot3/appendix_lds_02/" | |
| }, | |
| "lidar.beams": { | |
| "kind": "estimated", | |
| "method": "1 beam per degree, close to the ~1 degree angular resolution of low-cost 2D LiDARs; the environment resamples to n_beams beams." | |
| }, | |
| "footprint_simple": { | |
| "kind": "official", | |
| "url": "https://emanual.robotis.com/docs/en/platform/turtlebot3/features/" | |
| }, | |
| "import": { | |
| "kind": "navsim", | |
| "file": "turtlebot3_burger.json" | |
| } | |
| }, | |
| "footprint_simple": { | |
| "type": "rectangle", | |
| "length": 0.138, | |
| "width": 0.178 | |
| }, | |
| "r_circ": 0.1046, | |
| "r_insc": 0.0322 | |
| } | |