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TurtleBot3 Simulation for Operational Robotics

Overview

TurtleBot3 is a compact, ROS 2-compatible robot platform that supports both real-world and simulated deployment. Its modularity and low barrier to entry make it suitable for prototyping advanced autonomy, testing in virtual environments, and building operational readiness in a wide range of mission scenarios. When integrated with Gazebo and RViz2 in ROS 2 Humble, TurtleBot3 becomes a complete development and training tool that replicates real-world robotics missions, including those involving perception, mapping, and autonomous navigation in complex, interference-prone environments.

Realistic Virtual Environments with Sensor Fidelity

The system includes a full suite of virtualized sensors:

  • 360° LiDAR (LDS-01)
  • IMU (Inertial Measurement Unit)
  • Camera (for supported models)

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These enable simulated perception tasks like obstacle avoidance, SLAM, and goal-based navigation. Environments can be customized or selected from built-in simulation worlds, such as:

  • Minimalistic test space (empty_world)
  • Structured obstacle-rich interior (turtlebot3_world)
  • Complex domestic layout (turtlebot3_house)

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These environments provide varied terrain and layouts that mirror real-world navigation challenges, making the simulation platform ideal for exploring robot behavior under shifting signal conditions and environmental constraints.