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Add turtlebot3 example (#193)
* add images of examples using turtlebot3 * add example tutorial of turtlebot3 * change turtlebot3 image and add gif to show example3 image * fix image file path * compress gif file * add specification i used for the demo * add launch file for turtlebot3 and mcp server --------- Co-authored-by: Rohit John Varghese <rohit@contoro.com>
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‎examples/9_turtlebot3/README.md‎

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# Example - Turtlebot3 (Real)
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![Static Badge](https://img.shields.io/badge/ROS2-Available-green)
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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.

‎examples/9_turtlebot3/images/turtlebot3_connect.png‎

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‎examples/9_turtlebot3/images/turtlebot3_example3.gif‎

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‎examples/9_turtlebot3/images/turtlebot3_gettopics_1.png‎

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‎examples/9_turtlebot3/images/turtlebot3_gettopics_2.png‎

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‎examples/9_turtlebot3/images/turtlebot3_image.png‎

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‎examples/9_turtlebot3/ros2_mcp_turtlebot3.launch.py‎

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#!/usr/bin/env python3
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"""
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ROS2 Launch file for ROS-MCP Server with TurtleBot3
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This launch file starts:
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- rosbridge_websocket server
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- TurtleBot3 robot
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- Provides proper process management and cleanup
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"""
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import os
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, LogInfo
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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from launch import LaunchDescription
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def generate_launch_description():
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"""Generate the launch description for ROS-MCP Server with TurtleBot3."""
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# Declare launch arguments
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rosbridge_port_arg = DeclareLaunchArgument(
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"port", default_value="9090", description="Port for rosbridge websocket server"
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)
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rosbridge_address_arg = DeclareLaunchArgument(
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"address",
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default_value="",
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description="Address for rosbridge websocket server (empty for all interfaces)",
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)
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# Rosbridge websocket server node
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rosbridge_node = Node(
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package="rosbridge_server",
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executable="rosbridge_websocket",
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name="rosbridge_websocket",
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output="screen",
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parameters=[
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{
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"port": LaunchConfiguration("port"),
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"address": LaunchConfiguration("address"),
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"use_compression": False,
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"max_message_size": 10000000,
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"send_action_goals_in_new_thread": True,
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"call_services_in_new_thread": True,
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}
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],
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arguments=["--ros-args", "--log-level", "info"],
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)
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# Include TurtleBot3 bringup launch file
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turtlebot3_bringup_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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[
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os.path.join(
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FindPackageShare("turtlebot3_bringup").find("turtlebot3_bringup"),
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"launch",
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"robot.launch.py",
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)
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]
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)
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)
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# Log info about what's being launched
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log_info = LogInfo(
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msg=[
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"Starting ROS-MCP Server with:",
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" - Rosbridge WebSocket on port: ",
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LaunchConfiguration("port"),
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" - TurtleBot3 robot bringup",
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]
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)
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return LaunchDescription(
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[
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rosbridge_port_arg,
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rosbridge_address_arg,
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log_info,
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rosbridge_node,
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turtlebot3_bringup_launch,
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]
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)

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