New Project: Phoebe TurtleBot

A project log for Phoebe TurtleBot

DIY variant of ROS TurtleBot for <$250 capable of simultaneous location and mapping (SLAM)

RogerRoger 09/09/2018 at 17:310 Comments

While my understanding of the open source Robot Operating System is still far from complete, I feel like I’m far enough along to build a robot to run ROS. Doing so would help cement the concepts covered so far and serve as an anchor to help explore new areas in the future.

Sawppy Rover is standing by, and my long-term plan has always been to make Sawppy smarter with ROS. Sawppy’s six-wheeled rocker-bogie suspension system is great for driving over rough terrain but fully exploiting that capability autonomously requires ROS software complexity far beyond what I could handle right now. Sawppy is still the goal for my ROS journey, but I need something simpler as an intermediate step.

TurtleBot is the official ROS entry-level robot. It is far simpler than Sawppy with just two driven wheels and restricted to traveling over flat floors. I’ve been playing with a simulated TurtleBot 3 and it has been extremely helpful for learning ROS. Robotis will happily sell a complete TurtleBot 3 Burger for $550. This represents a discounted bundle price less than the sum of MSRP for all of its individual components, but $550 is still a nontrivial chunk of change. Looking over its capabilities, though, I’m optimistic I could implement critical TurtleBot functionality using parts already on hand.

Components for parts bin turtlebot phoebe

This forms the roster for my TurtleBot variant, with an incremental component cost of $0 thanks to the parts bin. “Parts Bin TurtleBot” is a mouthful to say and not a very friendly name. I looked at its acronym “PB-TB” and remembered R2-D2’s nickname “Artoo”. So I’m going to turn “PB” into Phoebe.

I hereby announce the birth of my TurtleBot variant, Phoebe!

(Cross-posted to