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Project structure

The TurtleBot3 ROS2 Jazzy Dev Container follows a standard ROS2 workspace layout with additional development container configuration.

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Root directory

.
├── .devcontainer/          # Development container configuration
│   ├── Dockerfile          # Container image definition
│   ├── devcontainer.json   # VS Code Dev Container settings
│   ├── post-create.sh      # One-time setup script
│   ├── post-start.sh       # Run on every container start
│   └── verify-setup.sh     # Setup verification tool
├── .git/                   # Git repository metadata
├── .gitattributes          # Git attributes configuration
├── .gitignore              # Git ignore patterns
├── LICENSE                 # Project license
└── README.md               # Project documentation

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Workspace directory (/workspace/turtlebot3_ws)

Once the container is built and running, the workspace structure is: 
/workspace/turtlebot3_ws/
├── .devcontainer/          # Dev container scripts (mounted)
├── src/                    # Source code directory
│   ├── DynamixelSDK/       # Dynamixel motor SDK
│   ├── turtlebot3/         # TurtleBot3 core packages
│   ├── turtlebot3_msgs/    # TurtleBot3 message definitions
│   └── turtlebot3_simulations/  # Gazebo simulation packages
├── build/                  # Build artifacts (created after build)
├── install/                # Installed packages (created after build)
└── log/                    # Build logs (created after build)

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Source packages

The src/ directory contains the following ROS2 packages:

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DynamixelSDK

SDK for controlling Dynamixel smart actuators used in TurtleBot3.

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turtlebot3

Core TurtleBot3 packages including:
  • turtlebot3 - Meta package
  • turtlebot3_bringup - Launch files for hardware
  • turtlebot3_description - URDF robot models
  • turtlebot3_teleop - Teleoperation nodes
  • turtlebot3_cartographer - SLAM configuration
  • turtlebot3_navigation2 - Navigation configuration
  • turtlebot3_node - Main robot node

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turtlebot3_msgs

Custom message and service definitions for TurtleBot3.

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turtlebot3_simulations

Gazebo simulation packages:
  • turtlebot3_gazebo - Gazebo simulation launch files and worlds
  • turtlebot3_fake_node - Simulated robot node

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User home directory

Additional directories created in the user’s home: 
~/
├── maps/                   # Directory for saved SLAM maps
└── GPU_INFO.txt           # GPU detection results

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Key locations

PathDescription
/workspace/turtlebot3_wsMain ROS2 workspace
/workspace/turtlebot3_ws/srcSource code directory
/workspace/turtlebot3_ws/.devcontainerDev container configuration
/opt/ros/jazzyROS2 Jazzy installation
~/mapsSLAM map storage
~/.bashrcUser shell configuration (modified by scripts)

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