{
  "schema_version": "1.0",
  "id": "turtlebot4_lite",
  "name": "Clearpath/iRobot TurtleBot 4 Lite",
  "footprint": {
    "type": "polygon",
    "points": [
      [
        -0.0074,
        -0.1654
      ],
      [
        -0.0024,
        -0.1614
      ],
      [
        0.0016,
        -0.1644
      ],
      [
        0.0016,
        -0.1664
      ],
      [
        0.0326,
        -0.1704
      ],
      [
        0.0466,
        -0.1704
      ],
      [
        0.0636,
        -0.1664
      ],
      [
        0.0846,
        -0.1564
      ],
      [
        0.1166,
        -0.1334
      ],
      [
        0.1386,
        -0.1114
      ],
      [
        0.1546,
        -0.0884
      ],
      [
        0.1656,
        -0.0654
      ],
      [
        0.1756,
        -0.0274
      ],
      [
        0.1776,
        -0.0054
      ],
      [
        0.1756,
        0.0276
      ],
      [
        0.1656,
        0.0656
      ],
      [
        0.1526,
        0.0916
      ],
      [
        0.1306,
        0.1206
      ],
      [
        0.1106,
        0.1386
      ],
      [
        0.0876,
        0.1546
      ],
      [
        0.0566,
        0.1686
      ],
      [
        0.0326,
        0.1706
      ],
      [
        0.0016,
        0.1656
      ],
      [
        0.0016,
        0.1636
      ],
      [
        -0.0014,
        0.1616
      ],
      [
        -0.0074,
        0.1656
      ],
      [
        -0.0324,
        0.1626
      ],
      [
        -0.0524,
        0.1576
      ],
      [
        -0.0824,
        0.1436
      ],
      [
        -0.1054,
        0.1276
      ],
      [
        -0.1224,
        0.1116
      ],
      [
        -0.1314,
        0.1006
      ],
      [
        -0.1444,
        0.0806
      ],
      [
        -0.1544,
        0.0606
      ],
      [
        -0.1594,
        0.0456
      ],
      [
        -0.1654,
        0.0066
      ],
      [
        -0.1634,
        -0.0254
      ],
      [
        -0.1594,
        -0.0454
      ],
      [
        -0.1544,
        -0.0604
      ],
      [
        -0.1404,
        -0.0874
      ],
      [
        -0.1224,
        -0.1114
      ],
      [
        -0.1054,
        -0.1274
      ],
      [
        -0.0934,
        -0.1364
      ],
      [
        -0.0624,
        -0.1534
      ],
      [
        -0.0334,
        -0.1624
      ]
    ]
  },
  "height": 0.192,
  "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/lite/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": "default safe mode"
    },
    "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_lite.json"
    }
  },
  "footprint_simple": {
    "type": "circle",
    "radius": 0.171
  },
  "r_circ": 0.1781,
  "r_insc": 0.1614
}