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99 lines
3.3 KiB
Markdown
99 lines
3.3 KiB
Markdown
# Example - Turtlebot3 (Real)
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This example demonstrates the use of a real TurtleBot3 Burger robot with ROS2.
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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.
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## Prerequisites
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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.
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### Turtlebot3
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For more details, please refer to the [TurtleBot3 Documentation](https://emanual.robotis.com/docs/en/platform/turtlebot3/overview/).
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<img src="images/turtlebot3_image.png" width="300">
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- **Specification**
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- **OS** : Ubuntu 22.04
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- **ROS** : ROS2 Humble
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- **TurtleBot3 Model** : Burger
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- **LiDAR** : LDS-01
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- **Computer** : Raspberry Pi 3 Model B+ (1GB RAM)
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- **Motor Controller** : OpenCR 1.0 (Firmware v0.2.1)
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## Quick Start
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### 1. Network Setup
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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.
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> **Note:** You can check your network IP address with the `ifconfig` command.
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**Ping Test**
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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:
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**[User's PC]**
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```bash
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ping <TURTLEBOT3_IP> # e.g., ping 192.168.101.166
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```
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**ROS2 Network Setup**
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In ROS2, environment variables are used to configure Domain ID and ROS middleware behavior.
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On both the user PC and TurtleBot3, export:
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**[User's PC]** **[Turtlebot3 SBC]**
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```bash
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echo "export ROS_DOMAIN_ID=30" >> ~/.bashrc
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echo "export RMW_IMPLEMENTATION=rmw_fastrtps_cpp" >> ~/.bashrc
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source ~/.bashrc
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```
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### 2. Bringup Turtlebot3
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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.
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**[User's PC]**
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```bash
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ssh ubuntu@{IP_ADDRESS_OF_RASPBERRY_PI}
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```
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Bring up basic packages to start essential TurtleBot3 applications. You will need to specify your TurtleBot3 model.
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**[Turtlebot3 SBC]**
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```bash
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export TURTLEBOT3_MODEL=burger
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ros2 launch turtlebot3_bringup robot.launch.py
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```
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### 3. Launch Node on Your Turtlebot3 SBC and Open claude-desktop on Your PC
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**[Turtlebot3 SBC]**
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```bash
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ros2 launch rosbridge_server rosbridge_websocket_launch.xml
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```
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**[User's PC]**
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```bash
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claude-desktop
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```
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## **Example Walkthrough**
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You're now ready to interact with the TurtleBot3 via the ROS MCP server. Follow these examples step-by-step:
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### **Example 1**: Connect to Robot
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<img src="images/turtlebot3_connect.png" width="500">
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### **Example 2**: Check Available Topics
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<img src="images/turtlebot3_gettopics_1.png" width="500">
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<img src="images/turtlebot3_gettopics_2.png" width="500">
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### **Example 3**: Move the Robot Back and Forth
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<img src="images/turtlebot3_example3.gif" width="500">
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## **Next Steps**
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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. |