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turtlebot3-example\n\n[![Pixi Badge](https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/prefix-dev/pixi/main/assets/badge/v0.json)](https://pixi.sh)\n\nTurtleBot3 Burger simulation for testing [rewire](https://github.com/rewire-run/rewire) with URDF, TF trees,\njoint states, and pose with covariance.\n\n![TurtleBot3 Navigation](assets/turtlebot3-navigation.png)\n\n## Topics\n\n| Topic | Type | Description |\n|---|---|---|\n| `/joint_states` | `sensor_msgs/JointState` | Wheel joint positions and velocities |\n| `/pose_with_covariance` | `geometry_msgs/PoseWithCovarianceStamped` | Pose with growing uncertainty |\n| `/robot_description` | `std_msgs/String` | URDF from `robot_state_publisher` |\n| `/tf` | `tf2_msgs/TFMessage` | Dynamic transform: `odom` → `base_footprint` |\n| `/tf_static` | `tf2_msgs/TFMessage` | Static transforms from URDF |\n\n## Setup\n\nRequires [pixi](https://pixi.sh).\n\n```bash\npixi install\n```\n\n## Usage\n\n```bash\npixi run ros2 launch rewire_turtlebot3 sim.launch.py\n```\n\nIn a separate terminal, run rewire to visualize in Rerun:\n\n```bash\npixi run rewire record --all\n```\n\n## How it works\n\nThe launch file starts two nodes:\n\n- **robot_state_publisher** — publishes the TurtleBot3 Burger URDF and static TF tree\n- **sim** — drives the robot in a straight line, publishing joint states, dynamic TF, and pose with\n  covariance (uncertainty grows over time)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frewire-run%2Fturtlebot3-example","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Frewire-run%2Fturtlebot3-example","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frewire-run%2Fturtlebot3-example/lists"}