Mini-Turty Flex


The ultimate in flexibility! Start with a Mini-Turty II base (which includes an X4 LiDAR, at minimum) and add-on required hardware from here:

SKU: N/A Category:


For maximum configurability, begin with the base from our most recent addition to the Rhoeby Dynamics robot family, The Mini-Turty II. Then choose your LiDAR device, IMU, and camera to suit your budget and technical requirements.

Why Choose Us?

We offer the best value by delivering the following unique features:

  • Advanced features: out-of-the-box, no need to install anything
  • High-quality components
  • Better LiDAR: compare the quality of our maps with those of another leading vendor
  • Easy-to-use: scripts are ‘one liners’ for all functions
  • Assembled in USA: hand-built by engineers
  • 100% money-back guarantee: we make sure you are happy

Rhoeby Dynamics robots may not be the biggest, but they are the best at what they do. All good things come in Mini-Turty packages!

Mini-Turty Flex with G2 LiDAR


Things You Can Do With Your Mini-Turty Flex Robot

There are many things you can do with your Mini-Turty Flex robot, including:

  • Basics: ROS learning
  • Teleop: robot remote control
  • Map Building: make maps of your home or office for the robot to use
  • Navigation: the robot moves autonomously around your home or office
  • Tele-Viewing: see what your robot sees, even from another room
  • Video Recording: Record what your robot sees (to the SD Card)
  • Frontier Exploration: the robot autonomously explores unknown terrain
  • Computer Vision: Mini-Turty Flex recognizes objects in its environment*

*Coming soon, to a robot near you!

Included are simple scripts that enable the robot to be operated with little previous experience. If you can run simple commands from the command line, you can run this robot! Available in kit form, or fully assembled and ready to go. Either way, Mini-Turty Flex provides endless hours of educational fun and represents the ideal platform for learning the Robot Operating System. The kit includes everything you need to build your own robot.

Power Switch and Fuse Holder

Of course, everything is open source and available for download on our Mini-Turty github repository.

Software Features

Mini-Turty retains all the features you could expect from a mobile navigation-capable robot. The robot uses WiFi for remote connection to the robot services (eg. ssh, remote ROS/RViz, etc.). Using a ROS-enabled PC, simply ‘ssh’ into the robot (default robot name is: ubuntu):

$ ssh -l ubuntu ubuntu

After initial setup, begin using Mini-Turty simply by running the command-line scripts. At the ssh prompt, initialize the robot:


Briefly wait for initialization to complete, then initiate mapping:


It’s that simple!

With Mini-Turty you will be up and running with ROS navigation in no time! Additionally, the robot software can be expanded to support computer vision (using Raspberry Pi camera), as well as many other advanced features (eg. voice-control), limited only by your imagination!

Basic ROS Learning

Learn the basics of ROS including things like running ROS nodes, working with topics, using rosrun and roslaunch, etc. See and interact with working examples of things like publisher and subscriber, record and playback of data (eg LiDAR data). Follow instructions for running ROS across multiple machines, and much more.

Explore such topics as robot coordinate frames, like using the ‘view_frames’ tool to graphically examine the robot ‘tf’ frames. Graphical output helps simplify your view of the robot internal structure.


Mini-Turty supports tele-operation (remote control of the robot) via several methods, including:

  • Phone-based control (install Play Store app ‘Map Nav’)
  • PC keyboard control (via SSH terminal, eg PuTTY*, or Linux ‘minicom’)
  • ROS topic control via ‘cmd_vel’ topic

* PuTTY is a simple terminal program you can run on any Windows PC, see

All of the above methods control the robot via the built-in WiFi connection.

Using Phone-Based Control

You can remotely control Mini-Turty using a phone-based application called ‘Map Nav’, which is available in the Play Store. Download and install the app, specify the IP address of the robot and begin driving your robot around using the virtual joystick control!

Phone-based control

With nothing more than the phone app itself (and a properly setup robot), you can be controlling your robot quickly.

Map Building

The map building aspect is an exciting function of your new robot! It provides the means to make maps of your home or office for the robot to use. This can be both an interesting learning experience, and very useful to your robot in support of its more advanced features.

Map building

The process of performing localization and mapping together is referred to as “Simultaneous Localization And Mapping”, or just simply SLAM!

Using your robot, run mapping techniques such as:

  • gmapping
  • hector mapping
  • karto mapping
  • etc.

Save the map(s) for later use by the robot during navigation.


Autonomous navigation includes use of the generated map, path planning, obstacle detection and obstacle avoidance.

Setting the navigation goal

In addition to showing the goal, the RViz picture above also shows:

  • the mapped data: the black areas
  • the scan data from the LiDAR: the white dots
  • the robots current position: the red circle
  • obstacle inflation: the turquoise/purple areas

As the robot navigates towards a goal, it maintains an area around itself where it performs obstacle inflation, and seeks to keep its path outside of those areas.

Running Navigation

Running navigation is simple with your Mini-Turty robot.

1. To run the navigation suite, first close any previous mapping session (press ‘q’, followed by Ctrl-C), then execute the following:

$ ./

That’s all that is required to get navigation running on this robot!

Mini-Turty Flex navigating in RViz

Again, it’s easy to get started with Mini-Turty!

Frontier Exploration

Frontier Exploration is one of the newest and coolest features of our robots (see video). This functionality is what enables the robot to autonomously enter previously unexplored areas, and without any human intervention travel around to fully explore its environment whilst building a map for later use. The robot intelligently explores the unexplored space by only visiting each area once.

Frontier exploration

Set your Mini-Turty free to explore the great unknown!


Tele-Viewing allows users to see what the robots sees, even from another room! Using the on-robot camera with teleop, users can remotely operate the robot and monitor what’s in the robot field of view.

Video Recording

Mini Turty robot includes the ability to record video from the on-robot camera (if fitted). Recorded video is stored to the robot internal SD card for later retrieval. To enable video recording, simply add the ‘record’ parameter when launching the mapping or navigation script:

$./mini_turty_mapping record

The above command will begin recording the video to the SD card. Recording will continue until the
mapping (or navigation) process is terminated.

Computer Vision

NOTE: This feature requires addition of the Raspberry Pi camera (optional).

Using OpenCV, run the “Find Cat” software to enable Mini-Turty to search the mapped area for the presence of a cat!

Find the cat!

With this function the robot searches the entire mapped area and when it finds a cat it moves towards it and highlights the cat face with a bright magenta circle on the tele-viewed video image!

This is a super-fun application that provides many opportunities to learn about the exciting field of computer vision. The app could be adapted to detect dogs, people and even many household objects.

Re-configure Your Robot

Mini-Turty is completely expandable and re-configurable. We provide all the hardware design files to enable you to add, modify and expand the capabilities of your robot.

Reconfigure your robot

If you have access to a 3D-printer your options for enhancing Mini-Turty are truly limitless!

Primary Components

The primary components on this robot include:

  • Raspberry Pi 4B*
  • 16 GB Micro-SD card
  • Rhoeby Mini-Turty II base
  • LiDAR: choose from X4, R2D, F4 models
  • IMU (optional)
  • Camera (optional)
  • Pre-loaded with ROS Kinetic Navigation Suite

* 4B is optional, at extra cost (base unit uses Pi 3B).

Mini-Turty Flex is a real robot, not some cheap knock-off toy!

Battery Voltage Monitor and Alarm

Built on a sturdy chassis and utilizing high-quality mechanical components, the fully-assembled version of the robot is an easily accessed turn-key platform for demonstration and development of ROS features.

Other Components

The other components of this robot include:

  • power regulator
  • Raspberry Pi case and wiring harness
  • chassis
  • battery and battery case
  • castor wheel
  • motors and wheels
  • motor brackets
  • motor controller
  • low voltage alarm
  • bonus item: pipe cleaner (antennae)!

This is a robust, high-quality, hand-crafted robot made from state-of-the-art 3D-printed parts and easily obtained off-the-shelf components. The robot is designed to be completely user-serviceable and will provide years of reliable operation.


If the robot should happen to get damaged, 3D-printed replacement parts are available via our support channel.

Sensor Data and Motor Wiring System

The robot sensor data and motor wiring:

Wiring schematic

As can be seen, there is plenty of room left for further expansion, either via the GPIO or USB. This robot utilizes the novel feature of Encoder-Free Odometry, a technique made possible by the use of stepper motors.

Mini-Turty, the original little robot with big capabilities!

Are you looking to adopt ROS mapping and navigation for your mobile robotics project?

Check out our systems integration, and engineering support services today!

Additional information

Weight N/A
Dimensions N/A

X4, R2D, F4


None, MinIMU


None, 5MP Camera


For exciting videos of our robots, navigate to our videos page:


With Rhoeby Dynamics robots, you will be up and running in no time!


For thorough, step-by-step, easy-to-follow tutorials, visit our tutorials pages:


With Rhoeby Dynamics robots, you will be up running in no time!