| {
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| "schema_version": "1.0",
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| "id": "turtlebot4",
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| "name": "Clearpath/iRobot TurtleBot 4",
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| ]
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| },
|
| "height": 0.351,
|
| "height_class": "h36",
|
| "drive": "differential",
|
| "limits": {
|
| "v_max": 0.31,
|
| "v_min": -0.31,
|
| "vy_max": 0.0,
|
| "w_max": 1.9
|
| },
|
| "lidar": {
|
| "model": "SLAMTEC RPLIDAR A1M8",
|
| "range_min": 0.15,
|
| "range_max": 12.0,
|
| "fov": 6.2832,
|
| "beams": 360
|
| },
|
| "sources": {
|
| "footprint": {
|
| "kind": "official",
|
| "url": "https://github.com/turtlebot/turtlebot4/blob/humble/turtlebot4_description/urdf/standard/turtlebot4.urdf.xacro",
|
| "method": "every visual geometry of the URDF (joints = 0) projected onto the floor of frame 'base_link' at 1 mm, outer outline, simplified to 1 mm (hm3d robots import-urdf)"
|
| },
|
| "height": {
|
| "kind": "official",
|
| "url": "https://turtlebot.github.io/turtlebot4-user-manual/overview/features.html"
|
| },
|
| "limits.v_max": {
|
| "kind": "official",
|
| "url": "https://turtlebot.github.io/turtlebot4-user-manual/overview/features.html",
|
| "note": "0.31 m/s in the default safe mode; 0.46 m/s with safe mode off"
|
| },
|
| "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://turtlebot.github.io/turtlebot4-user-manual/overview/features.html",
|
| "note": "differential drive"
|
| },
|
| "limits.w_max": {
|
| "kind": "official",
|
| "url": "https://turtlebot.github.io/turtlebot4-user-manual/overview/features.html"
|
| },
|
| "lidar": {
|
| "kind": "official",
|
| "url": "https://turtlebot.github.io/turtlebot4-user-manual/overview/features.html"
|
| },
|
| "lidar.range_min": {
|
| "kind": "official",
|
| "url": "https://bucket-download.slamtec.com/d1e428e7efbdcd65a8ea111061794fb8d4ccd3a0/LD108_SLAMTEC_rplidar_datasheet_A1M8_v3.0_en.pdf"
|
| },
|
| "lidar.fov": {
|
| "kind": "official",
|
| "url": "https://bucket-download.slamtec.com/d1e428e7efbdcd65a8ea111061794fb8d4ccd3a0/LD108_SLAMTEC_rplidar_datasheet_A1M8_v3.0_en.pdf"
|
| },
|
| "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": "estimated",
|
| "method": "The Create 3 base is round; the manufacturer gives 342 x 339 mm -> a 342 mm diameter circle is used (enclosing)."
|
| },
|
| "import": {
|
| "kind": "navsim",
|
| "file": "turtlebot4.json"
|
| }
|
| },
|
| "footprint_simple": {
|
| "type": "circle",
|
| "radius": 0.171
|
| },
|
| "r_circ": 0.1781,
|
| "r_insc": 0.1614
|
| }
|
|
|
