Setup and bringup for the TurtleBot3 Burger with ROS 2 Jazzy.
Hardware: TurtleBot3 Burger · OpenCR (pre-flashed) · LDS-02 LiDAR (CP2102 USB bridge)
Hardware Connections
| Connection | Device |
|---|
| OpenCR → SBC | USB → /dev/ttyACM0 |
| LDS-02 LiDAR → SBC | USB → /dev/ttyUSB0 |
ls /dev/ttyACM0 /dev/ttyUSB0
Install the TurtleBot3 Workspace
Install the required ROS packages and build the TurtleBot3 workspace. Full instructions are available in the ROBOTIS TurtleBot3 documentation.
mkdir -p ~/turtlebot3_ws/src
cd ~/turtlebot3_ws/src
git clone -b jazzy https://github.com/ROBOTIS-GIT/DynamixelSDK.git
git clone -b jazzy https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b jazzy https://github.com/ROBOTIS-GIT/turtlebot3.git
cd ~/turtlebot3_ws
source /opt/ros/jazzy/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
~/.bashrc:
echo 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc
echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc
echo 'export OPENCR_PORT=/dev/ttyACM0' >> ~/.bashrc
echo 'export LDS_MODEL=LDS-02' >> ~/.bashrc
source ~/.bashrc
| Variable | Value | Purpose |
|---|
TURTLEBOT3_MODEL | burger | Selects robot URDF and config |
OPENCR_PORT | /dev/ttyACM0 | Serial port to OpenCR |
LDS_MODEL | LDS-02 | Selects LiDAR driver |
sudo usermod -aG dialout $USER
sudo systemctl disable --now ModemManager
sudo cp $(ros2 pkg prefix turtlebot3_bringup)/share/turtlebot3_bringup/script/99-turtlebot3-cdc.rules \
/etc/udev/rules.d/
sudo udevadm control --reload-rules
sudo udevadm trigger
Log out and back in (or reboot) after this step for the dialout group to take effect.
Bringup
ros2 launch turtlebot3_bringup robot.launch.py
[DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)!
[ld08_driver]: FOUND LDS-02
[ld08_driver]: LDS-02 started successfully
[turtlebot3_node]: Run!
[diff_drive_controller]: Run!
Teleoperation
Use the TurtleBot3 teleop node — this is the recommended method for all TurtleBot3 driving, including during SLAM.
ros2 run turtlebot3_teleop teleop_keyboard
W/A/S/D/X keys. Press S or X to stop before closing. 
