Introduction to RobotOS & TurtleBot3

Faculty Sponsor

Craig Goehler




Mechanical Engineering, Computer Engineering, Robotics

ORCID Identifier(s)


Presentation Type

Oral Presentation

Symposium Date

Spring 4-29-2021


The purpose of this project is to introduce the basic concepts of robotic control using an open source operating system called RobotOS (ROS) on Linux. This project was initiated by the author who is seeking to continue their education in robotics beyond what their undergraduate courses could offer. It involves the purchase of a TurtleBot3 robot originally developed at Willow Garage. The TurtleBot platform is widely used in university research for introducing robotic controls at the undergraduate and graduate level. It can be used to study robotic movement, computer vision, Simultaneous Localization & Mapping (SLAM), and autonomous navigation and driving. These areas of study promote interdisciplinary research and collaboration between different departments in the Engineering College as these topics are deeply rooted in mechanical, electrical, and computer engineering, as well as computer science. When the project is completed, a basic control manual for the TurtleBot will be written, allowing for further undergraduate research and study in more intricate areas of robotics, including developing autonomous control programs and robotic manipulator movement on the TurtleBot.

Biographical Information about Author(s)

Thomas Quigley is a Senior Mechanical Engineering Major with Minors in Mathematics and Theatre Design. He wishes to use his degree to pursue a career in robotics. At Valpo, he has participated in theater design as a Sound and Lighting Designer for multiple theatre productions while attending his engineering classes. Thomas plans on taking the FE exam after he graduates to begin the process becoming a Professional Engineer as well as entering into industry.

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