Add turtlebot3 example

examples/9_turtlebot3/README.md

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

examples/9_turtlebot3/ros2_mcp_turtlebot3.launch.py

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