Hardware Changes

• Made a notch that makes it easy to remove the SD Card from the assembled TortoiseBot
• Made a custom PCB of Power Distribution Board instead of loose wires
• Made few extra holes for mounting different sensors and different boards like Jetson Nano and others
• Lasercut branding of TortoiseBot by RigBetel Labs on Plates

Software Changes

• Added support for ROS Noetic
• Updated differential.py to Python3 for ROS Noetic
• Updated camera node for ROS Noetic
• Same name of camera topics in Simulation and Real
• Updated DWA Navigation Parameters
• Made the overall package light by moving the CAD files to tortoisebot_docs
• Created /odom topic publisher from Cartographer
• Updated README

• changed to only cartographer based localization
• changed map parms and remove exploration separate launch files
• updated dependencies

The version of TortoiseBot Package which is been sent to the first batch of Pre-Orders of TortoiseBot.
Previous versions were Alpha and Beta versions which were used by the Internal Team for testing purposes.