Tortugabots === ## Tortugabot Box Content * Laptops Tortugabot 2-6 + Charger (last charged 28.11.25) * 5x PS3 Controller + Mini-USB Cables (last charged 28.11.25) * 9x LiHD Batteries + 2x Charger * Access Point * Ethernet -> USB Adapter * 6-Socket-Powerswitch * Mouse ## Robots invert_motor_direction and flip-left-and-right-motors are set in the roboclaw launchfiles. Tortugabot 1 - useless * no lidar * motor-less wheels front and back are too small Tortugabot 2 - works * flip-left-and-right-motors = true Tortugabot 3 - works Tortugabot 4 - works * Hokuyo IP default is 192.168.0.10 Tortugabot 5 - works Tortugabot 6 - maybe unstable * invert_motor_direction = true * long timeout after initial cmd_vel, moves a little, then roboclaw dies. especially prone when running for a while. ## ToDo * Tortugabot 1 * Add Lidar * Change Wheels * Check Roboclaw * Fix Lidar on Tortugabot 4 with Windows software * Set Wired connection to Manual * ping 192.168.0.10 is default * ping 192.168.200.11 should be * Find proper mounting for batteries ## Websites * [Tortugabot Setup ROS 2 Jazzy Ubuntu 24.04](https://ai.uni-bremen.de/wiki/software/tortugabot_ros2) * [Tortugabot Setup ROS 1 Noetic Ubuntu 20.04](https://ai.uni-bremen.de/wiki/software/tortugabot_ros1_noetic) * [Tortugabot Setup ROS indigo (and hardware)](https://ai.uni-bremen.de/wiki/software/tortugabot) * [Tortugabot Bringup Repository](https://github.com/code-iai/tortugabot) * [ROS1 Roboclaw Driver Repository, currently in use for RPWL Course](https://github.com/code-iai/roboclaw_ros/tree/noetic) * [ROS2 Roboclaw Driver Repository, Port by Minnie, including joy launcher](https://github.com/Jidapaminnie/roboclaw_ros/tree/ros2) * [Minnies ROS2 Port Documentation](https://docs.google.com/document/d/1heHYHczmgVPJyFRjvlUhxmG29vUFDxeR7rMQNXocjD0/edit?usp=sharing)