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tortoisebot repository

tortoisebot_bringup tortoisebot_control tortoisebot_description tortoisebot_firmware tortoisebot_gazebo tortoisebot_imu tortoisebot_navigation tortoisebot_slam v4l2_camera ydlidar_ros2_driver

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/rigbetellabs/tortoisebot.git
VCS Type git
VCS Version ros2-humble
Last Updated 2026-08-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tortoisebot_bringup 0.0.0
tortoisebot_control 0.0.0
tortoisebot_description 0.0.0
tortoisebot_firmware 0.0.0
tortoisebot_gazebo 0.0.0
tortoisebot_imu 0.0.0
tortoisebot_navigation 0.0.0
tortoisebot_slam 0.0.0
v4l2_camera 0.6.2
ydlidar_ros2_driver 1.0.1

README

TortoiseBot — ROS 2 Humble

TortoiseBot Banner

Installation • Workspace Setup • Simulation • Real Robot • More Wiki Resources

1. Installation

1.1 Install Gazebo Ignition Fortress

TortoiseBot uses Ignition Fortress as its simulation backend. Install it before any ROS packages:

sudo curl https://packages.osrfoundation.org/gazebo.gpg \
  --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] \
https://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" \
  | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null

sudo apt-get update
sudo apt-get install ignition-fortress

1.2 Required ROS 2 Dependencies

Install all required ROS 2 Humble packages:

sudo apt install \
  ros-humble-joint-state-publisher \
  ros-humble-robot-state-publisher \
  ros-humble-cartographer \
  ros-humble-cartographer-ros \
  ros-humble-teleop-twist-keyboard \
  ros-humble-teleop-twist-joy \
  ros-humble-xacro \
  ros-humble-nav2-bringup \
  ros-humble-navigation2 \
  ros-humble-urdf \
  ros-humble-robot-localization \
  ros-humble-ros-gz-bridge \
  ros-humble-ros-gz-sim \
  ros-humble-ros-gz-interfaces

2. Workspace Setup

2.1 Clone the Repository

Clone the repository on both your robot and your remote PC:

mkdir -p ~/tb_ws/src && cd ~/tb_ws/src
git clone -b ros2-humble https://github.com/rigbetellabs/tortoisebot.git

2.2 Build the Workspace

[!IMPORTANT] Always run rosdep first to resolve any remaining system dependencies automatically.

cd ~/tb_ws
rosdep install --from-paths src --ignore-src -r -y

Simulation / Remote PC build (excludes hardware-only packages):

```bash colcon build –packages-ignore ydlidar_sdk ydlidar_ros2_driver v4l2_camera tortoisebot_firmware tortoisebot_imu

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

tortoisebot repository

tortoisebot_bringup tortoisebot_control tortoisebot_description tortoisebot_firmware tortoisebot_gazebo tortoisebot_imu tortoisebot_navigation tortoisebot_slam v4l2_camera ydlidar_ros2_driver

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/rigbetellabs/tortoisebot.git
VCS Type git
VCS Version ros2-humble
Last Updated 2026-08-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tortoisebot_bringup 0.0.0
tortoisebot_control 0.0.0
tortoisebot_description 0.0.0
tortoisebot_firmware 0.0.0
tortoisebot_gazebo 0.0.0
tortoisebot_imu 0.0.0
tortoisebot_navigation 0.0.0
tortoisebot_slam 0.0.0
v4l2_camera 0.6.2
ydlidar_ros2_driver 1.0.1

README

TortoiseBot — ROS 2 Humble

TortoiseBot Banner

Installation • Workspace Setup • Simulation • Real Robot • More Wiki Resources

1. Installation

1.1 Install Gazebo Ignition Fortress

TortoiseBot uses Ignition Fortress as its simulation backend. Install it before any ROS packages:

sudo curl https://packages.osrfoundation.org/gazebo.gpg \
  --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] \
https://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" \
  | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null

sudo apt-get update
sudo apt-get install ignition-fortress

1.2 Required ROS 2 Dependencies

Install all required ROS 2 Humble packages:

sudo apt install \
  ros-humble-joint-state-publisher \
  ros-humble-robot-state-publisher \
  ros-humble-cartographer \
  ros-humble-cartographer-ros \
  ros-humble-teleop-twist-keyboard \
  ros-humble-teleop-twist-joy \
  ros-humble-xacro \
  ros-humble-nav2-bringup \
  ros-humble-navigation2 \
  ros-humble-urdf \
  ros-humble-robot-localization \
  ros-humble-ros-gz-bridge \
  ros-humble-ros-gz-sim \
  ros-humble-ros-gz-interfaces

2. Workspace Setup

2.1 Clone the Repository

Clone the repository on both your robot and your remote PC:

mkdir -p ~/tb_ws/src && cd ~/tb_ws/src
git clone -b ros2-humble https://github.com/rigbetellabs/tortoisebot.git

2.2 Build the Workspace

[!IMPORTANT] Always run rosdep first to resolve any remaining system dependencies automatically.

cd ~/tb_ws
rosdep install --from-paths src --ignore-src -r -y

Simulation / Remote PC build (excludes hardware-only packages):

```bash colcon build –packages-ignore ydlidar_sdk ydlidar_ros2_driver v4l2_camera tortoisebot_firmware tortoisebot_imu

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

tortoisebot repository

tortoisebot_bringup tortoisebot_control tortoisebot_description tortoisebot_firmware tortoisebot_gazebo tortoisebot_imu tortoisebot_navigation tortoisebot_slam v4l2_camera ydlidar_ros2_driver

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/rigbetellabs/tortoisebot.git
VCS Type git
VCS Version ros2-humble
Last Updated 2026-08-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tortoisebot_bringup 0.0.0
tortoisebot_control 0.0.0
tortoisebot_description 0.0.0
tortoisebot_firmware 0.0.0
tortoisebot_gazebo 0.0.0
tortoisebot_imu 0.0.0
tortoisebot_navigation 0.0.0
tortoisebot_slam 0.0.0
v4l2_camera 0.6.2
ydlidar_ros2_driver 1.0.1

README

TortoiseBot — ROS 2 Humble

TortoiseBot Banner

Installation • Workspace Setup • Simulation • Real Robot • More Wiki Resources

1. Installation

1.1 Install Gazebo Ignition Fortress

TortoiseBot uses Ignition Fortress as its simulation backend. Install it before any ROS packages:

sudo curl https://packages.osrfoundation.org/gazebo.gpg \
  --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] \
https://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" \
  | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null

sudo apt-get update
sudo apt-get install ignition-fortress

1.2 Required ROS 2 Dependencies

Install all required ROS 2 Humble packages:

sudo apt install \
  ros-humble-joint-state-publisher \
  ros-humble-robot-state-publisher \
  ros-humble-cartographer \
  ros-humble-cartographer-ros \
  ros-humble-teleop-twist-keyboard \
  ros-humble-teleop-twist-joy \
  ros-humble-xacro \
  ros-humble-nav2-bringup \
  ros-humble-navigation2 \
  ros-humble-urdf \
  ros-humble-robot-localization \
  ros-humble-ros-gz-bridge \
  ros-humble-ros-gz-sim \
  ros-humble-ros-gz-interfaces

2. Workspace Setup

2.1 Clone the Repository

Clone the repository on both your robot and your remote PC:

mkdir -p ~/tb_ws/src && cd ~/tb_ws/src
git clone -b ros2-humble https://github.com/rigbetellabs/tortoisebot.git

2.2 Build the Workspace

[!IMPORTANT] Always run rosdep first to resolve any remaining system dependencies automatically.

cd ~/tb_ws
rosdep install --from-paths src --ignore-src -r -y

Simulation / Remote PC build (excludes hardware-only packages):

```bash colcon build –packages-ignore ydlidar_sdk ydlidar_ros2_driver v4l2_camera tortoisebot_firmware tortoisebot_imu

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro lyrical showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

tortoisebot repository

tortoisebot_bringup tortoisebot_control tortoisebot_description tortoisebot_firmware tortoisebot_gazebo tortoisebot_imu tortoisebot_navigation tortoisebot_slam v4l2_camera ydlidar_ros2_driver

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/rigbetellabs/tortoisebot.git
VCS Type git
VCS Version ros2-humble
Last Updated 2026-08-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tortoisebot_bringup 0.0.0
tortoisebot_control 0.0.0
tortoisebot_description 0.0.0
tortoisebot_firmware 0.0.0
tortoisebot_gazebo 0.0.0
tortoisebot_imu 0.0.0
tortoisebot_navigation 0.0.0
tortoisebot_slam 0.0.0
v4l2_camera 0.6.2
ydlidar_ros2_driver 1.0.1

README

TortoiseBot — ROS 2 Humble

TortoiseBot Banner

Installation • Workspace Setup • Simulation • Real Robot • More Wiki Resources

1. Installation

1.1 Install Gazebo Ignition Fortress

TortoiseBot uses Ignition Fortress as its simulation backend. Install it before any ROS packages:

sudo curl https://packages.osrfoundation.org/gazebo.gpg \
  --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] \
https://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" \
  | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null

sudo apt-get update
sudo apt-get install ignition-fortress

1.2 Required ROS 2 Dependencies

Install all required ROS 2 Humble packages:

sudo apt install \
  ros-humble-joint-state-publisher \
  ros-humble-robot-state-publisher \
  ros-humble-cartographer \
  ros-humble-cartographer-ros \
  ros-humble-teleop-twist-keyboard \
  ros-humble-teleop-twist-joy \
  ros-humble-xacro \
  ros-humble-nav2-bringup \
  ros-humble-navigation2 \
  ros-humble-urdf \
  ros-humble-robot-localization \
  ros-humble-ros-gz-bridge \
  ros-humble-ros-gz-sim \
  ros-humble-ros-gz-interfaces

2. Workspace Setup

2.1 Clone the Repository

Clone the repository on both your robot and your remote PC:

mkdir -p ~/tb_ws/src && cd ~/tb_ws/src
git clone -b ros2-humble https://github.com/rigbetellabs/tortoisebot.git

2.2 Build the Workspace

[!IMPORTANT] Always run rosdep first to resolve any remaining system dependencies automatically.

cd ~/tb_ws
rosdep install --from-paths src --ignore-src -r -y

Simulation / Remote PC build (excludes hardware-only packages):

```bash colcon build –packages-ignore ydlidar_sdk ydlidar_ros2_driver v4l2_camera tortoisebot_firmware tortoisebot_imu

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

tortoisebot repository

tortoisebot_bringup tortoisebot_control tortoisebot_description tortoisebot_firmware tortoisebot_gazebo tortoisebot_imu tortoisebot_navigation tortoisebot_slam v4l2_camera ydlidar_ros2_driver

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/rigbetellabs/tortoisebot.git
VCS Type git
VCS Version ros2-humble
Last Updated 2026-08-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tortoisebot_bringup 0.0.0
tortoisebot_control 0.0.0
tortoisebot_description 0.0.0
tortoisebot_firmware 0.0.0
tortoisebot_gazebo 0.0.0
tortoisebot_imu 0.0.0
tortoisebot_navigation 0.0.0
tortoisebot_slam 0.0.0
v4l2_camera 0.6.2
ydlidar_ros2_driver 1.0.1

README

TortoiseBot — ROS 2 Humble

TortoiseBot Banner

Installation • Workspace Setup • Simulation • Real Robot • More Wiki Resources

1. Installation

1.1 Install Gazebo Ignition Fortress

TortoiseBot uses Ignition Fortress as its simulation backend. Install it before any ROS packages:

sudo curl https://packages.osrfoundation.org/gazebo.gpg \
  --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] \
https://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" \
  | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null

sudo apt-get update
sudo apt-get install ignition-fortress

1.2 Required ROS 2 Dependencies

Install all required ROS 2 Humble packages:

sudo apt install \
  ros-humble-joint-state-publisher \
  ros-humble-robot-state-publisher \
  ros-humble-cartographer \
  ros-humble-cartographer-ros \
  ros-humble-teleop-twist-keyboard \
  ros-humble-teleop-twist-joy \
  ros-humble-xacro \
  ros-humble-nav2-bringup \
  ros-humble-navigation2 \
  ros-humble-urdf \
  ros-humble-robot-localization \
  ros-humble-ros-gz-bridge \
  ros-humble-ros-gz-sim \
  ros-humble-ros-gz-interfaces

2. Workspace Setup

2.1 Clone the Repository

Clone the repository on both your robot and your remote PC:

mkdir -p ~/tb_ws/src && cd ~/tb_ws/src
git clone -b ros2-humble https://github.com/rigbetellabs/tortoisebot.git

2.2 Build the Workspace

[!IMPORTANT] Always run rosdep first to resolve any remaining system dependencies automatically.

cd ~/tb_ws
rosdep install --from-paths src --ignore-src -r -y

Simulation / Remote PC build (excludes hardware-only packages):

```bash colcon build –packages-ignore ydlidar_sdk ydlidar_ros2_driver v4l2_camera tortoisebot_firmware tortoisebot_imu

File truncated at 100 lines see the full file

CONTRIBUTING

Repo symbol

tortoisebot repository

tortoisebot_bringup tortoisebot_control tortoisebot_description tortoisebot_firmware tortoisebot_gazebo tortoisebot_imu tortoisebot_navigation tortoisebot_slam v4l2_camera ydlidar_ros2_driver

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/rigbetellabs/tortoisebot.git
VCS Type git
VCS Version ros2-humble
Last Updated 2026-08-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tortoisebot_bringup 0.0.0
tortoisebot_control 0.0.0
tortoisebot_description 0.0.0
tortoisebot_firmware 0.0.0
tortoisebot_gazebo 0.0.0
tortoisebot_imu 0.0.0
tortoisebot_navigation 0.0.0
tortoisebot_slam 0.0.0
v4l2_camera 0.6.2
ydlidar_ros2_driver 1.0.1

README

TortoiseBot — ROS 2 Humble

TortoiseBot Banner

Installation • Workspace Setup • Simulation • Real Robot • More Wiki Resources

1. Installation

1.1 Install Gazebo Ignition Fortress

TortoiseBot uses Ignition Fortress as its simulation backend. Install it before any ROS packages:

sudo curl https://packages.osrfoundation.org/gazebo.gpg \
  --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] \
https://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" \
  | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null

sudo apt-get update
sudo apt-get install ignition-fortress

1.2 Required ROS 2 Dependencies

Install all required ROS 2 Humble packages:

sudo apt install \
  ros-humble-joint-state-publisher \
  ros-humble-robot-state-publisher \
  ros-humble-cartographer \
  ros-humble-cartographer-ros \
  ros-humble-teleop-twist-keyboard \
  ros-humble-teleop-twist-joy \
  ros-humble-xacro \
  ros-humble-nav2-bringup \
  ros-humble-navigation2 \
  ros-humble-urdf \
  ros-humble-robot-localization \
  ros-humble-ros-gz-bridge \
  ros-humble-ros-gz-sim \
  ros-humble-ros-gz-interfaces

2. Workspace Setup

2.1 Clone the Repository

Clone the repository on both your robot and your remote PC:

mkdir -p ~/tb_ws/src && cd ~/tb_ws/src
git clone -b ros2-humble https://github.com/rigbetellabs/tortoisebot.git

2.2 Build the Workspace

[!IMPORTANT] Always run rosdep first to resolve any remaining system dependencies automatically.

cd ~/tb_ws
rosdep install --from-paths src --ignore-src -r -y

Simulation / Remote PC build (excludes hardware-only packages):

```bash colcon build –packages-ignore ydlidar_sdk ydlidar_ros2_driver v4l2_camera tortoisebot_firmware tortoisebot_imu

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

tortoisebot repository

tortoisebot_bringup tortoisebot_control tortoisebot_description tortoisebot_firmware tortoisebot_gazebo tortoisebot_imu tortoisebot_navigation tortoisebot_slam v4l2_camera ydlidar_ros2_driver

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/rigbetellabs/tortoisebot.git
VCS Type git
VCS Version ros2-humble
Last Updated 2026-08-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tortoisebot_bringup 0.0.0
tortoisebot_control 0.0.0
tortoisebot_description 0.0.0
tortoisebot_firmware 0.0.0
tortoisebot_gazebo 0.0.0
tortoisebot_imu 0.0.0
tortoisebot_navigation 0.0.0
tortoisebot_slam 0.0.0
v4l2_camera 0.6.2
ydlidar_ros2_driver 1.0.1

README

TortoiseBot — ROS 2 Humble

TortoiseBot Banner

Installation • Workspace Setup • Simulation • Real Robot • More Wiki Resources

1. Installation

1.1 Install Gazebo Ignition Fortress

TortoiseBot uses Ignition Fortress as its simulation backend. Install it before any ROS packages:

sudo curl https://packages.osrfoundation.org/gazebo.gpg \
  --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] \
https://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" \
  | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null

sudo apt-get update
sudo apt-get install ignition-fortress

1.2 Required ROS 2 Dependencies

Install all required ROS 2 Humble packages:

sudo apt install \
  ros-humble-joint-state-publisher \
  ros-humble-robot-state-publisher \
  ros-humble-cartographer \
  ros-humble-cartographer-ros \
  ros-humble-teleop-twist-keyboard \
  ros-humble-teleop-twist-joy \
  ros-humble-xacro \
  ros-humble-nav2-bringup \
  ros-humble-navigation2 \
  ros-humble-urdf \
  ros-humble-robot-localization \
  ros-humble-ros-gz-bridge \
  ros-humble-ros-gz-sim \
  ros-humble-ros-gz-interfaces

2. Workspace Setup

2.1 Clone the Repository

Clone the repository on both your robot and your remote PC:

mkdir -p ~/tb_ws/src && cd ~/tb_ws/src
git clone -b ros2-humble https://github.com/rigbetellabs/tortoisebot.git

2.2 Build the Workspace

[!IMPORTANT] Always run rosdep first to resolve any remaining system dependencies automatically.

cd ~/tb_ws
rosdep install --from-paths src --ignore-src -r -y

Simulation / Remote PC build (excludes hardware-only packages):

```bash colcon build –packages-ignore ydlidar_sdk ydlidar_ros2_driver v4l2_camera tortoisebot_firmware tortoisebot_imu

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

tortoisebot repository

tortoisebot_bringup tortoisebot_control tortoisebot_description tortoisebot_firmware tortoisebot_gazebo tortoisebot_imu tortoisebot_navigation tortoisebot_slam v4l2_camera ydlidar_ros2_driver

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/rigbetellabs/tortoisebot.git
VCS Type git
VCS Version ros2-humble
Last Updated 2026-08-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tortoisebot_bringup 0.0.0
tortoisebot_control 0.0.0
tortoisebot_description 0.0.0
tortoisebot_firmware 0.0.0
tortoisebot_gazebo 0.0.0
tortoisebot_imu 0.0.0
tortoisebot_navigation 0.0.0
tortoisebot_slam 0.0.0
v4l2_camera 0.6.2
ydlidar_ros2_driver 1.0.1

README

TortoiseBot — ROS 2 Humble

TortoiseBot Banner

Installation • Workspace Setup • Simulation • Real Robot • More Wiki Resources

1. Installation

1.1 Install Gazebo Ignition Fortress

TortoiseBot uses Ignition Fortress as its simulation backend. Install it before any ROS packages:

sudo curl https://packages.osrfoundation.org/gazebo.gpg \
  --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] \
https://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" \
  | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null

sudo apt-get update
sudo apt-get install ignition-fortress

1.2 Required ROS 2 Dependencies

Install all required ROS 2 Humble packages:

sudo apt install \
  ros-humble-joint-state-publisher \
  ros-humble-robot-state-publisher \
  ros-humble-cartographer \
  ros-humble-cartographer-ros \
  ros-humble-teleop-twist-keyboard \
  ros-humble-teleop-twist-joy \
  ros-humble-xacro \
  ros-humble-nav2-bringup \
  ros-humble-navigation2 \
  ros-humble-urdf \
  ros-humble-robot-localization \
  ros-humble-ros-gz-bridge \
  ros-humble-ros-gz-sim \
  ros-humble-ros-gz-interfaces

2. Workspace Setup

2.1 Clone the Repository

Clone the repository on both your robot and your remote PC:

mkdir -p ~/tb_ws/src && cd ~/tb_ws/src
git clone -b ros2-humble https://github.com/rigbetellabs/tortoisebot.git

2.2 Build the Workspace

[!IMPORTANT] Always run rosdep first to resolve any remaining system dependencies automatically.

cd ~/tb_ws
rosdep install --from-paths src --ignore-src -r -y

Simulation / Remote PC build (excludes hardware-only packages):

```bash colcon build –packages-ignore ydlidar_sdk ydlidar_ros2_driver v4l2_camera tortoisebot_firmware tortoisebot_imu

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

tortoisebot repository

tortoisebot_bringup tortoisebot_control tortoisebot_description tortoisebot_firmware tortoisebot_gazebo tortoisebot_imu tortoisebot_navigation tortoisebot_slam v4l2_camera ydlidar_ros2_driver

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/rigbetellabs/tortoisebot.git
VCS Type git
VCS Version ros2-humble
Last Updated 2026-08-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tortoisebot_bringup 0.0.0
tortoisebot_control 0.0.0
tortoisebot_description 0.0.0
tortoisebot_firmware 0.0.0
tortoisebot_gazebo 0.0.0
tortoisebot_imu 0.0.0
tortoisebot_navigation 0.0.0
tortoisebot_slam 0.0.0
v4l2_camera 0.6.2
ydlidar_ros2_driver 1.0.1

README

TortoiseBot — ROS 2 Humble

TortoiseBot Banner

Installation • Workspace Setup • Simulation • Real Robot • More Wiki Resources

1. Installation

1.1 Install Gazebo Ignition Fortress

TortoiseBot uses Ignition Fortress as its simulation backend. Install it before any ROS packages:

sudo curl https://packages.osrfoundation.org/gazebo.gpg \
  --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] \
https://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" \
  | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null

sudo apt-get update
sudo apt-get install ignition-fortress

1.2 Required ROS 2 Dependencies

Install all required ROS 2 Humble packages:

sudo apt install \
  ros-humble-joint-state-publisher \
  ros-humble-robot-state-publisher \
  ros-humble-cartographer \
  ros-humble-cartographer-ros \
  ros-humble-teleop-twist-keyboard \
  ros-humble-teleop-twist-joy \
  ros-humble-xacro \
  ros-humble-nav2-bringup \
  ros-humble-navigation2 \
  ros-humble-urdf \
  ros-humble-robot-localization \
  ros-humble-ros-gz-bridge \
  ros-humble-ros-gz-sim \
  ros-humble-ros-gz-interfaces

2. Workspace Setup

2.1 Clone the Repository

Clone the repository on both your robot and your remote PC:

mkdir -p ~/tb_ws/src && cd ~/tb_ws/src
git clone -b ros2-humble https://github.com/rigbetellabs/tortoisebot.git

2.2 Build the Workspace

[!IMPORTANT] Always run rosdep first to resolve any remaining system dependencies automatically.

cd ~/tb_ws
rosdep install --from-paths src --ignore-src -r -y

Simulation / Remote PC build (excludes hardware-only packages):

```bash colcon build –packages-ignore ydlidar_sdk ydlidar_ros2_driver v4l2_camera tortoisebot_firmware tortoisebot_imu

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

tortoisebot repository

tortoisebot_bringup tortoisebot_control tortoisebot_description tortoisebot_firmware tortoisebot_gazebo tortoisebot_imu tortoisebot_navigation tortoisebot_slam v4l2_camera ydlidar_ros2_driver

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/rigbetellabs/tortoisebot.git
VCS Type git
VCS Version ros2-humble
Last Updated 2026-08-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tortoisebot_bringup 0.0.0
tortoisebot_control 0.0.0
tortoisebot_description 0.0.0
tortoisebot_firmware 0.0.0
tortoisebot_gazebo 0.0.0
tortoisebot_imu 0.0.0
tortoisebot_navigation 0.0.0
tortoisebot_slam 0.0.0
v4l2_camera 0.6.2
ydlidar_ros2_driver 1.0.1

README

TortoiseBot — ROS 2 Humble

TortoiseBot Banner

Installation • Workspace Setup • Simulation • Real Robot • More Wiki Resources

1. Installation

1.1 Install Gazebo Ignition Fortress

TortoiseBot uses Ignition Fortress as its simulation backend. Install it before any ROS packages:

sudo curl https://packages.osrfoundation.org/gazebo.gpg \
  --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] \
https://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" \
  | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null

sudo apt-get update
sudo apt-get install ignition-fortress

1.2 Required ROS 2 Dependencies

Install all required ROS 2 Humble packages:

sudo apt install \
  ros-humble-joint-state-publisher \
  ros-humble-robot-state-publisher \
  ros-humble-cartographer \
  ros-humble-cartographer-ros \
  ros-humble-teleop-twist-keyboard \
  ros-humble-teleop-twist-joy \
  ros-humble-xacro \
  ros-humble-nav2-bringup \
  ros-humble-navigation2 \
  ros-humble-urdf \
  ros-humble-robot-localization \
  ros-humble-ros-gz-bridge \
  ros-humble-ros-gz-sim \
  ros-humble-ros-gz-interfaces

2. Workspace Setup

2.1 Clone the Repository

Clone the repository on both your robot and your remote PC:

mkdir -p ~/tb_ws/src && cd ~/tb_ws/src
git clone -b ros2-humble https://github.com/rigbetellabs/tortoisebot.git

2.2 Build the Workspace

[!IMPORTANT] Always run rosdep first to resolve any remaining system dependencies automatically.

cd ~/tb_ws
rosdep install --from-paths src --ignore-src -r -y

Simulation / Remote PC build (excludes hardware-only packages):

```bash colcon build –packages-ignore ydlidar_sdk ydlidar_ros2_driver v4l2_camera tortoisebot_firmware tortoisebot_imu

File truncated at 100 lines see the full file

CONTRIBUTING