# Example - Turtlebot3 (Real)
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](https://emanual.robotis.com/docs/en/platform/turtlebot3/overview/).
<img src="images/turtlebot3_image.png" width="300">
- **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]**
```bash
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]**
```bash
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]**
```bash
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]**
```bash
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]**
```bash
ros2 launch rosbridge_server rosbridge_websocket_launch.xml
```
**[User's PC]**
```bash
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
<img src="images/turtlebot3_connect.png" width="500">
### **Example 2**: Check Available Topics
<img src="images/turtlebot3_gettopics_1.png" width="500">
<img src="images/turtlebot3_gettopics_2.png" width="500">
### **Example 3**: Move the Robot Back and Forth
<img src="images/turtlebot3_example3.gif" width="500">
## **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.
