# 12.5. Bringup 啟動 TB3 與機器手臂

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備註：請再次確認 [**turtlebot3\_core.launch**](https://github.com/ROBOTIS-GIT/turtlebot3/blob/467c76bc4fa2e34162f57107388839d82d3bcc0e/turtlebot3_bringup/launch/turtlebot3_core.launch#L5) 檔內的 OpenCR usb port name
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Tip：在執行指令前，必須先指定 TurtleBot3 的 model 模型名稱。${TB3\_MODEL} 是表示所使用的 waffle, waffle\_pi 模型的名稱。如果你要永久設定 export setting，請參考 [**Export TURTLEBOT3\_MODEL**](http://emanual.robotis.com/docs/en/platform/turtlebot3/export_turtlebot3_model) 網頁。
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**\[TurtleBot3 端]** 啟動 rosserial 及 lidar node

```
$ export TURTLEBOT3_MODEL=${TB3_MODEL}
$ ROS_NAMESPACE=om_with_tb3 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:=om_with_tb3 set_lidar_frame_id:=om_with_tb3/base_scan
```

**\[TurtleBot3 端]** 啟動 rpicamera node

```
$ ROS_NAMESPACE=om_with_tb3 roslaunch turtlebot3_bringup turtlebot3_rpicamera.launch
```

**\[Remote PC 端]** 啟動 robot\_state\_publisher node

```
$ ROS_NAMESPACE=om_with_tb3 roslaunch open_manipulator_with_tb3_tools om_with_tb3_robot.launch
```

