https://github.com/rewire-run/turtlebot3-example

Visualize a TurtleBot3 simulation in Rerun using Rewire.
https://github.com/rewire-run/turtlebot3-example

example nav2 rewire turtlebot3

Last synced: about 4 hours ago
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Visualize a TurtleBot3 simulation in Rerun using Rewire.

• Host: GitHub
• URL: https://github.com/rewire-run/turtlebot3-example
• Owner: rewire-run
• Created: 2026-03-09T01:59:25.000Z (4 months ago)
• Default Branch: main
• Last Pushed: 2026-06-06T19:41:25.000Z (29 days ago)
• Last Synced: 2026-06-06T21:17:44.570Z (29 days ago)
• Topics: example, nav2, rewire, turtlebot3
• Language: Python
• Homepage:
• Size: 2.87 MB
• Stars: 0
• Watchers: 0
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
# turtlebot3-example

[![Pixi Badge](https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/prefix-dev/pixi/main/assets/badge/v0.json)](https://pixi.sh)

TurtleBot3 Burger simulation for testing [rewire](https://github.com/rewire-run/rewire) with URDF, TF trees,

joint states, and pose with covariance.

![TurtleBot3 Navigation](assets/turtlebot3-navigation.png)

## 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 |

## Setup

Requires [pixi](https://pixi.sh).

```bash

pixi install

```

## Usage

```bash

pixi run ros2 launch rewire_turtlebot3 sim.launch.py

```

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

```bash

pixi run rewire record --all

```

## How it works

The launch file starts two nodes:

- **robot_state_publisher** — publishes the 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)