Questions and Answers

Frequently Asked Questions

What is Open Source Hardware?

Open source hardware is an emerging concept. We’re following the recently established Open Source Hardware Statement of Principles and Definition v1.0. From that document:

"Open source hardware is hardware whose design is made publicly available so that anyone can study, modify, distribute, make, and sell the design or hardware based on that design. The hardware's source, the design from which it is made, is available in the preferred format for making modifications to it....Open source hardware gives people the freedom to control their technology while sharing knowledge and encouraging commerce through the open exchange of designs."

What does Open Source mean for TurtleBot?

We’re publishing all the information that you need to build your own TurtleBot, including links to all the parts that you need. You’re free (and encouraged) to modify our initial design to create your own variations on TurtleBot.

What is

This site is a resource created by and for the TurtleBot community. It’s a portal for people to learn about TurtleBot, order components to build TurtleBots, and freely exchange information about how to make, modify, and extend TurtleBots.

Why did Willow Garage make the TurtleBot Open Source?

TurtleBot is about getting hackers involved in robotics. And hackers want maximum control over their hardware and software. Given the plans, parts list, assembly instructions, and links to suppliers, you have the ability to do whatever you want with TurtleBot. You can use components that you already have, substitute similar components, and generally mix and match to order only what you need to build exactly what you want. Of course, any component changes may entail other, as-yet-undocumented modifications to the design. Over time the community will contribute to a common body of documentation on their own TurtleBot variations, at

I’d like to supply parts for TurtleBots; how can I participate?

Great! More suppliers of TurtleBot parts means more choice for the TurtleBot community. Please visit this page.

What license will be applied to the TurtleBot documentation?

Just as for ROS software, we prefer permissive licenses that facilitate commercial use of code. The preferred license for TurtleBot hardware documentation is the FreeBSD Documentation License.

Can I apply the TurtleBot name to my modification of your design, or my own similar robot design?

The Open Source Robotics Foundation holds the TurtleBot trademark with the United States Patent and Trademark Office. If you want to use the TurtleBot name or mark, please send an email to

TurtleBot3 Tutorials


Official TurtleBot3 Tutorials

You can assemble and run a TurtleBot3 following the documentation.

  • Hardware and software setup
  • Bringup and teleoperation the TurtleBot3
  • SLAM / Navigation / Manipulation / Autonomous Driving
  • Simulation on RViz and Gazebo
  • Link:

MASTERING WITH ROS: TurtleBot3 by The Construct

MASTERING WITH ROS: TurtleBot3 Within this Course, you are going to learn how you can start working with the TurtleBot3 robot, explore its functionalitities, and how to build build some interesting ROS applications for it. This lecture is made by The Construct


What you will learn via this lecture:

  • Basic Usage and control of the TurtleBot3 robot
  • How to perform Navigation with TurtleBot3
  • Follow a line with TurtleBot3
  • Object Recognition with TurtleBot3
  • Motion Planning in Moveit with TurtleBot3
  • Grasping with TurtleBot3

TurtleBot3 simulation on RDS v2.0

Have a TurtleBot3 simulation running in 5 minutes with RDS v2.0

If you want to learn more ROS, please check the ROBOT IGNITE ACADEMY that contains a series of online ROS tutorials tied to online simulations, giving you the tools and knowledge to understand and create any ROS based robotics development.

TurtleBot3 with Blockly

Programming with Blockly to run TurtleBot3 (This tutorial is builed by Dabit Industries)

  • Blockly Wiki: A detailed documentation on how to use Blockly (free and open source software) with TurtleBot3.

turtlebot3 with blockly

TurtleBot3 Simulation on ROS Indigo

Tutorials for TurtleBot3 simulator in Ubuntu 14.04 (This tutorial is builed by Cyaninfinite)

Youtube Course



This book is a ROS robot programming guide based on the experiences we had accumulated from ROS projects like TurtleBot3, OpenCR and OpenManipulator. We tried to make this a comprehensive guide that covers all aspects necessary for a beginner in ROS. Topics such as embedded system, mobile robots, and robot arms programmed with ROS are included. For those who are new to ROS, there are footnotes throughout the book providing more information on the web. Through this book, we hope that more people will be aware of and participate in bringing forward the ever-accelerating collective knowledge of Robotics Engineering.

This Handbook is written for

College students and graduate students who want to learn robot programming based on ROS (Robot Operating system) and also for professional researchers and engineers who work on robot development or software programming. We have tried to offer detailed information we learned while working on TurtleBot3 and OpenManipulator. We hope this book will be the complete handbook for beginners in ROS and more people will contribute to the ever-growing community of open robotics.

What you will learn from this book

From the basic concept to practical robot application programming!

  • ROS Kinetic Kame : Basic concept, instructions and tools
  • How to use sensor and actuator packages on ROS
  • Embedded board for ROS : OpenCR1.0
  • SLAM & Navigation with TurtleBot3
  • How to program a delivery robot using ROS Java
  • OpenManipulator simulation using MoveIt! and Gazebo

ROS Robot Programming (Language: English, Chinese, Japanese, Korean)

TurtleBot2 Tutorials

Build a TurtleBot2

TurtleBot 2

The complete TurtleBot 2 includes a Kobuki base, Microsoft XBOX Kinect, ROS compatible netbook, and factory calibrated gyro.

Build a TurtleBot2 from Scratch

You can build a TurtleBot from scratch by purchasing the parts such as netbook, Kinect, and Kobuki separately and following the documentation.

Download TurtleBot Documentation

Kits for TurtleBot2

There are several kits avaliable to create a Turtlebot. Check out the distributors’ website to find out more.

TurtleBot 2e

The TurtleBot 2e is a new revision of the TurtleBot primarily defined by replacing the netbook with a single board computer such as the 96 Boards CE computer, the DB410c.

Documentation of the TurtleBot2e can be found on github at turtlebot/turtlebot2e and you can get it in pdf format here.

Dabit Industries is offering the TurtleBot2e and the TurtleBot2e Accessory Kit.

Learn TurtleBot2 and ROS

  • Learning with the TurtleBot
  • CoffeeBot Challenge
  • Learning with the TurtleBot in Simulation
  • Challenge in Simulation

  • Link:

Lecture by The Construct

TurtleBot2 Tutorial from Clearpath Robotics

TurtleBot2 Tutorial from Gaitech

TurtleBot2 Tutorial from IEEE Spectrum

TurtleBot 1

Do you have an iRobot Create that you would like to turn into a TurtleBot? Check out the TurtleBot 1 documentation.

Download TurtleBot 1 Documentation