Interbotix Turtlebot 2i Mobile ROS Platform

The Turtlebot 2i from TrossenRobotics / Interbotix delivers a very good base for research in SLAM, Navigation combined with mobile Manipulation. The ROS development platform is based on an Intel NUC (BOXNUC6CAYH), paired with a RealSense & Orbbec 3D camera (SR300/Astra) aswell as diverse IMU's for localization.

Turtlebot 2i ROS Demo Features

The Turtlebot2i provides multiple demos and software packages wich enable an easy implementation of self created applications that dependent on the features that are listed below. There is a Youtube video deposited at every numeration showcasing the functionality..

• Autonomuos Navigation & Point Cloud Mapping
• Map Zone Identifications & Waypoints
• Manipulation & Sorting
• Path Planning
• Obstacle Avoidance

CPU

• Intel NUC (BOXNUC6CAYH)
• 8GB RAM
• 120GB
• WiFi & Bluetooth 4.0
• Ubuntu 16.04 / ROS Kinetic

Sensors

• Intel RealSense 3D Camera SR300
• Orbbec Astra Cam
• Accelerometer / Gyroscope / Compass
• Edge Detection & Bumper Sensors

Technical Data

• Kobuki Mobile Base
• Modular & Interchangeable Decks
• Pincher MK3 Robo Arm
• Arotix M Robocontroller
• Payload: 2kg (without Arm), 1kg (with Arm)
• Cliff: will not drive off a cliff with a depth greater than 5cm
• Climbs thresholds of 12mm or lower
• Climbs rugs of 12mm or lower
• Operating time: 4-6h
• Charging time: 2-3h
• Charging: automatically within a 2x5m Area in front of the docking station (sold separately)

Guides

• Construction manual
• Battery tips
• TB2i Github Repo.
• 3D Model