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Announcing TurtleBot3 Software(v1.0.0) and Firmware(v1.2.0) Update


Hello~!! everyone :slight_smile:

Do you remember ROBOTIS, Intel and OpenRobotics announced official release of TurtleBot3
@ ICRA 2017 in Singapore?

Thank you to all who loved TurtleBot3 for the past year :heart_eyes:
We celebrated the first anniversary of TurtleBot3 and prepared software and firmware updates and more powerful WiKi :grin:

This update considered may issues and requests from users. We are sincerely thankful to them.
TurtleBot3 can get even better through a lot of interest. So please feel free to suggest any functions or ask questions into our issue page in github

New Software version is 1.0.0
New Firmware version is 1.2.0

1. List of Software(TurtleBot3 packages) updates

(1) turtlebot3

(2) turtlebot3_simulations

(3) turtlebot3_applications

2. List of Firmware(OpenCR) updates

3. How to update

(1) Upload new firmware(1.2.0)

[TurtleBot3] (Raspberry Pi 3 or Intel Joule)


$ export OPENCR_PORT=/dev/ttyACM0
$ export OPENCR_MODEL=burger
$ rm -rf ./opencr_update.tar.bz2
$ wget && tar -xvf opencr_update.tar.bz2 && cd ./opencr_update && ./ $OPENCR_PORT $OPENCR_MODEL.opencr && cd ..

Waffle or Waffle Pi

$ export OPENCR_PORT=/dev/ttyACM0
$ export OPENCR_MODEL=waffle
$ rm -rf ./opencr_update.tar.bz2
$ wget && tar -xvf opencr_update.tar.bz2 && cd ./opencr_update && ./ $OPENCR_PORT $OPENCR_MODEL.opencr && cd ..

(2) Download new software (1.0.0)

[TurtleBot3] (Raspberry Pi 3 or Intel Joule)

$ cd ~/catkin_ws/src/
$ rm -rf turtlebot3/ turtlebot3_msgs/ hls_lfcd_lds_driver/
$ git clone
$ git clone
$ git clone
$ cd ~/catkin_ws/src/turtlebot3
$ sudo rm -r turtlebot3_description/ turtlebot3_teleop/ turtlebot3_navigation/ turtlebot3_slam/ turtlebot3_example/
$ cd ~/catkin_ws/
$ rm -rf build/ devel/
$ cd ~/catkin_ws && catkin_make -j1


(3) Download new software (1.0.0)

$ cd ~/catkin_ws/src/
$ rm -rf turtlebot3/ turtlebot3_msgs/
$ git clone
$ git clone
$ cd ~/catkin_ws/
$ rm -rf build/ devel/
$ cd ~/catkin_ws && catkin_make

(4) Bringup TurtleBot3

[TurtleBot3] (Raspberry Pi 3 or Intel Joule)

$ roslaunch turtlebot3_bringup turtlebot3_robot.launch

If you succeeded to firmware and software update, you can watch below information on your terminal

[INFO] [1527235088.346449]: ROS Serial Python Node
[INFO] [1527235088.442568]: Connecting to /dev/ttyACM0 at 115200 baud
[INFO] [1527235090.657687]: Note: publish buffer size is 1024 bytes
[INFO] [1527235090.659172]: Setup publisher on sensor_state [turtlebot3_msgs/SensorState]
[INFO] [1527235090.676922]: Setup publisher on version_info [turtlebot3_msgs/VersionInfo]
[INFO] [1527235090.717570]: Setup publisher on imu [sensor_msgs/Imu]
[INFO] [1527235090.734843]: Setup publisher on cmd_vel_rc100 [geometry_msgs/Twist]
[INFO] [1527235090.756810]: Setup publisher on odom [nav_msgs/Odometry]
[INFO] [1527235090.782001]: Setup publisher on joint_states [sensor_msgs/JointState]
[INFO] [1527235090.799442]: Setup publisher on battery_state [sensor_msgs/BatteryState]
[INFO] [1527235090.815553]: Setup publisher on magnetic_field [sensor_msgs/MagneticField]
[INFO] [1527235092.747440]: Setup publisher on /tf [tf/tfMessage]
[INFO] [1527235092.771371]: Note: subscribe buffer size is 1024 bytes
[INFO] [1527235092.773250]: Setup subscriber on cmd_vel [geometry_msgs/Twist]
[INFO] [1527235092.803557]: Setup subscriber on sound [turtlebot3_msgs/Sound]
[INFO] [1527235092.832210]: Setup subscriber on motor_power [std_msgs/Bool]
[INFO] [1527235092.860932]: Setup subscriber on reset [std_msgs/Empty]
[INFO] [1527235093.658241]: --------------------------
[INFO] [1527235093.661574]: Connected to OpenCR board!
[INFO] [1527235093.664542]: This core(v1.2.0) is compatible with TB3 Burger
[INFO] [1527235093.667664]: --------------------------
[INFO] [1527235093.670613]: Start Calibration of Gyro
[INFO] [1527235096.214531]: Calibration End

4. Special Thank you

We are always very appreciative of all users to interest TurtleBot3.
Especially, Thank you to @KurtE, @ncnynl, @FurqanHabibi, @skasperski, @ihadzic
Because of your interests and efforts, TurtleBot3 :turtle: become more better.

If you need more information about TurtleBot3, please visit our e-manual or open issue.

Thank you


Great,Just amazing.


Darby and all the Robotis Turtlebot3 designers and engineers. Once again thank you for this excellent Update adding many interesting and useful functions to the Turtlebot3. I can report that the Update worked properly on my Burger following the accurate instructions. I look forward to building and connecting the additional Sonar, LED, Bumper and Cliff sensors. Doing several demonstrations to many friends and colleagues I found the hardware and software to be very reliable. A tip: As we are all aware for reliable teleop, Image view, RVIZ, SLAM.Navigation functions, it is critical to have a sound WiFi network which I usually provide with a dedicated β€œMobile Router” (the one I use has both a LAN and WLAN radio) that gives the Turtlebot3 its own DHCP IP assignments separate from the private or public network,


Thank you for sharing your experiences :slight_smile:


Thank you @YuehChuan!


Hello guys :slight_smile:

We announces you can now download updated firmware(v1.2.1) and software today!!

The new software includes

  1. Modified waffle URDF to escape the scan lines hitting the realsense camera
    (Issue :

  2. Add arguments to simply load multiple TurtleBot3s
    (Issue :
    (WiKi :

The new firmware includes

  1. Add param to set prefix of TF
    (Issue :

  2. Update sensor time for cartogapher
    (Issue :
    (WiKi :

You are supposed to upload new firmware to OpenCR and download software on SBC(Raspberry Pi 3 or Intel Joule) and Remote PC. Please follow 3. How to update sections on this page to get this.

You can see that, we are always try to solve issues everyday. These issues make better TurtleBot3 or more simple to launch it. If you have any inconvenience or questions about TurtleBot3, please feel free to open ticket(