TurtleBot3 Waffle

Differential-drive mobile robot description for Waffle navigation and learning workflows.

Mobile robotsXacroROS 2

Inspect the generated URDF

This source uses Xacro. Generate a URDF with the upstream package and its required arguments, then open the output and meshes in the viewer.

Open a local URDF

Visualization checks geometry and joint motion. It does not run a physics simulation.

Before you use this model

Despite the .urdf extension, this source contains Xacro namespace arguments. Expand it using the upstream launch workflow and include the complete turtlebot3_description package for meshes.

Check the ROS distribution-specific instructions and branch before installing the complete description package.

Get the source package

Keep meshes, includes and license files together. A single URDF or Xacro file may not be enough.

Download upstream ZIP

Full repository at the recorded revision. Submodules and external dependencies may need separate installation.

Open model source Repository & documentation

Maintainer / source: ROBOTIS-GIT/turtlebot3
Branch at check: main
Model path: turtlebot3_description/urdf/turtlebot3_waffle.urdf
Revision: fc817ce3073a
License context: Apache-2.0 reported at repository level; inspect asset-specific terms
Source checked: 2026-10-28 · path and resources, not simulator behavior

From source to your workspace

1. Get the complete package
Use the ZIP above or clone the upstream repository. Follow its installation instructions for your branch and ROS distribution.
2. Resolve the description
Expand Xacro with the documented arguments and dependencies. Keep package paths and mesh files available.
3. Inspect before simulation
Check the link tree and limits, then validate in your chosen simulator. Controllers and physics settings are separate.
Check your URDF