turtlebot3c

turtlebot3c is an open-source Linux system tool for preparing and operating a TurtleBot3 robot. It provides launch files and configuration files that bring together the components needed to use the robot. The software is intended to run on the robot itself, giving it a self-contained setup for core operation, control, mapping, and navigation.

Its core application starts when the robot is turned on and starts the motor controller, advertises the sensors, uploads the robot model to the rosparam server, and publishes the robot TF tree. The teleop application manages velocity commands from sources such as a keyboard, a remote controller, or the navigation stack. A multiplexer selects the active command input, and that selection can be changed through a rosservice call. The joy application supports connecting a third-party remote controller directly to the robot for driving.

The mapping application lets the robot build a map of its environment while it is driven through that environment. When mapping stops, the resulting map is saved in the robot's TurtleBot3 data directory, and a configuration link is created for the navigation system. The navigation application uses the available map to move the robot autonomously from its current position toward a chosen goal while avoiding obstacles. It automatically uses the most recently built map referenced by the mapping configuration.

As a Linux entry in the System Tools category, turtlebot3c is suited to users configuring, controlling, and testing TurtleBot3 hardware rather than to general desktop software users. MirrorNest distributes the official build directly from its own storage and scans it for malware before publishing it. This distribution model gives Linux users a locally served copy of the open-source tool while keeping the package aligned with its official build.