This example demonstrates the use of a real TurtleBot3 Burger robot with ROS2. The TurtleBot3 is a compact, customizable mobile robot designed for education and research. It supports applications such as SLAM, navigation, and autonomous control, and comes in various hardware configurations.

Prerequisites

For this example, the TurtleBot3 Burger version with Ubuntu 22.04 and ROS2 Humble is used. Depending on your TurtleBot3 model and installed hardware (e.g., LDS-01 LiDAR), make sure to install the corresponding packages required for your specific configuration.

Turtlebot3

For more details, please refer to the TurtleBot3 Documentation.

Specification
- OS : Ubuntu 22.04
- ROS : ROS2 Humble
- TurtleBot3 Model : Burger
- LiDAR : LDS-01
- Computer : Raspberry Pi 3 Model B+ (1GB RAM)
- Motor Controller : OpenCR 1.0 (Firmware v0.2.1)

Quick Start

1. Network Setup

Since the TurtleBot3 is controlled via ROS-MCP from the user PC, it is important to connect both the user PC and the TurtleBot3 to the same network.

Note: You can check your network IP address with the ifconfig command.

Ping Test

After connecting them to the same network, perform a ping test from the user PC to TurtleBot3 to verify that the connection is established correctly:
[User's PC]

ping <TURTLEBOT3_IP>   # e.g., ping 192.168.101.166

ROS2 Network Setup

In ROS2, environment variables are used to configure Domain ID and ROS middleware behavior. On both the user PC and TurtleBot3, export:
[User's PC] [Turtlebot3 SBC]

echo "export ROS_DOMAIN_ID=30" >> ~/.bashrc
echo "export RMW_IMPLEMENTATION=rmw_fastrtps_cpp" >> ~/.bashrc
source ~/.bashrc

2. Bringup Turtlebot3

Open a new terminal on the user PC and connect to the Raspberry Pi via SSH using its IP address. Enter your Ubuntu OS password for the Raspberry Pi.

[User's PC]

ssh ubuntu@{IP_ADDRESS_OF_RASPBERRY_PI}

Bring up basic packages to start essential TurtleBot3 applications. You will need to specify your TurtleBot3 model.

[Turtlebot3 SBC]

export TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_bringup robot.launch.py

3. Launch Node on Your Turtlebot3 SBC and Open claude-desktop on Your PC

[Turtlebot3 SBC]

ros2 launch rosbridge_server rosbridge_websocket_launch.xml

[User's PC]

claude-desktop

Example Walkthrough

You're now ready to interact with the TurtleBot3 via the ROS MCP server. Follow these examples step-by-step:

Example 1: Connect to Robot

Example 2: Check Available Topics

Example 3: Move the Robot Back and Forth

Next Steps

If your TurtleBot3 is equipped with a Raspberry Pi camera, you can now start streaming visual data. Try integrating camera feeds into your pipeline for more advanced robot control demos.