Most current autonomous mobile service robots are either expensive commercial platforms or custom manufactured for research environments, limiting
their availability. We present the design for a lowcost service robot based on the widely used TurtleBot 2 platform, with the goal of making service robots affordable and accessible to the research, educational, and hobbyist communities.
Our design uses a set of simple and inexpensive modifications to transform the TurtleBot 2 into a 4.5ft (1.37m) tall tour-guide or telepresence-style robot, capable of performing a wide variety of indoor service tasks. The resulting platform provides a shoulder-height touchscreen and 3D camera for interaction, an optional low-cost arm for manipulation, enhanced onboard computation, autonomous charging, and up to 6 hours of runtime. The resulting platform can support many of the tasks performed by significantly more expensive service robots. For compatibility with existing software packages, the service robot runs the Robot Operating System (ROS).