TurtleBot3 Burger simulation for testing rewire with URDF, TF trees, joint states, and pose with covariance.

Topics

Topic	Type	Description
/joint_states	sensor_msgs/JointState	Wheel joint positions and velocities
/pose_with_covariance	geometry_msgs/PoseWithCovarianceStamped	Pose with growing uncertainty
/robot_description	std_msgs/String	URDF from robot_state_publisher
/tf	tf2_msgs/TFMessage	Dynamic transform: odom → base_footprint
/tf_static	tf2_msgs/TFMessage	Static transforms from URDF

Environments

Environment	ROS distro
default / jazzy	Jazzy
humble	Humble
kilted	Kilted
lyrical	Lyrical

The Burger URDF and meshes are vendored in this package (from ROBOTIS turtlebot3_description, Apache 2.0), so no external turtlebot3_description package is required — including on Lyrical, where robostack does not publish it yet.

Setup

Requires pixi.

pixi install

Usage

pixi run app

In a separate terminal, run rewire to visualize in Rerun:

pixi run viz

app launches sim.launch.py. viz runs rewire record with config/rewire.json5 (all topics except /rosout and /parameter_events). Add -e <env> to pick a ROS 2 distro other than the default (jazzy):

pixi run -e humble app
pixi run -e kilted app
pixi run -e lyrical app

How it works

The launch file starts two nodes:

• robot_state_publisher — publishes the vendored TurtleBot3 Burger URDF and static TF tree
• sim — drives the robot in a straight line, publishing joint states, dynamic TF, and pose with covariance (uncertainty grows over time)