{
  "schema_version": "1.0",
  "id": "turtlebot3_burger",
  "name": "ROBOTIS TurtleBot3 Burger",
  "footprint": {
    "type": "polygon",
    "points": [
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      ],
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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
}