TurtleBot3 Burger
ROBOTIS's small research-and-teaching rover: two driven wheels, a caster, and a 360-degree lidar. RobotForge's reference robot for the differential-drive layout — its spec here uses the public ROBOTIS reference dimensions.
Spec
| Battery | LiPo 11.1 V, 1800 mAh |
|---|---|
| Drivetrain | differential — 2 driven wheels + caster |
| Footprint | 0.178 m x 0.138 m, 0.192 m tall |
| Mass | 0.93 kg (reference spec) |
| Sensors | 360-degree 2D lidar (top) |
| Wheels | 66 mm diameter |
examples/turtlebot3-burger.jsonThe Waffle Pi URDF was pulled from this repo by `robotforge lookup` (chunk #4) with its LICENSE and a blob-SHA manifest; the Burger reference spec uses the public dimensions stated in examples/turtlebot3-burger.json.Gate runs
Measured against simulator ground truth at the locked thresholds: pass ≤ 5% / 5°, fail over 10% / 10°. The gate tests the spec's simulated twin, not a physical robot.
| Run | Drive vs truth | Turn vs truth | Odometry distance | Odometry heading |
|---|---|---|---|---|
| Run 1 | 0.368% | — | 0.042% | — |
| Run 2 | 0.968% | 2.028° | 0.042% | — |
- Run 1: P1 launch verification on scythe from a fresh clone of main, 2026-10-26 (project record: 'burger clean GATE PASS, drive 0.368%, odometry honest 0.042%')
- Run 2: Evidence run embedded in reports.html (burger-clean): drive 0.968%, turn 2.028 deg, all four checks PASS
Harness checks
Electrical computations over this robot's documented wiring graph — voltage drop, ampacity, logic levels, rail budgets, connector matching. Not a gate run and not a simulation: each check is Checked, Partial or Not checked, and the headline is counts, never a blanket pass.
0 checked clean · 0 with warnings · 0 with errors · 0 partial · 19 not checked · missing data: cable.gauge_awg ×8, connector at both ends (connector_from / connector_to) ×6, current_a for lidar ×5
| Check | Checked | Partial | Not checked |
|---|---|---|---|
| voltage drop | 0 | 0 | 4 |
| ampacity | 0 | 0 | 4 |
| logic levels | 0 | 0 | 2 |
| rail budget | 0 | 0 | 3 |
| connector match | 0 | 0 | 6 |
Findings: none — the inputs that could be checked raised nothing. That is not the same as everything being checked; the counts above say how much was.
Missing data — the datasheets still to hunt. A check that could not run says what it needs:
| Missing input | Blocks | Needed by |
|---|---|---|
cable.gauge_awg | 8 | battery -> driver, driver -> motors, battery -> controller, controller -> lidar |
connector at both ends (connector_from / connector_to) | 6 | battery -> driver, driver -> motors, battery -> controller, controller -> driver … |
current_a for lidar | 5 | battery -> controller, controller -> lidar, controller rail |
current_a for motors | 5 | battery -> driver, driver -> motors, driver rail |
cable.length_mm | 4 | battery -> driver, driver -> motors, battery -> controller, controller -> lidar |
connection voltage (volts) | 2 | battery -> controller, controller -> lidar |
logic_v for controller | 2 | controller -> driver, controller -> lidar |
current_a for controller | 1 | battery rail |
current_a for driver | 1 | battery rail |
logic_v for driver | 1 | controller -> driver |
logic_v for lidar | 1 | controller -> lidar |
rated output current for battery | 1 | battery rail |
rated output current for controller | 1 | controller rail |
rated output current for driver | 1 | driver rail |
Report: catalog/harness-reports/turtlebot3-burger.json · checked 2026-10-26 · reproduce with robotforge harness examples/turtlebot3-burger.json
Take it apart
Every spec becomes a kit of simple, 3D-printable parts (robotforge cad). This viewer lays the kit out the way the kit's own assembly file does, straight from the spec's numbers — flat views, or in 3D with the toggle. Click any part.
examples/turtlebot3-burger.json…Reproduce it
Run these from a clone of the repository.
robotforge validate examples/turtlebot3-burger.json
robotforge urdf examples/turtlebot3-burger.json --out build/turtlebot3-burger.urdf
robotforge cad examples/turtlebot3-burger.json
robotforge run-gate examples/turtlebot3-burger.json
robotforge harness examples/turtlebot3-burger.json