Finally TurtleBot3 got his own arm.
This arm is called OpenManipulator.
OpenManipulator is composed by 4 joints and 1 gripper. This manipulator are simply assembled on the TurtleBot3 Waffle and Waffle Pi. Furthermore, because it has 5 Dynamixel which is same motor of TurtleBot3, anyone can friendly control to use Dynamixel SDK or Dynamixel-Workbench. If you want to get more information about OpenManipulator, please watch presentation in ROSCON 2017 (https://vimeo.com/236147296)
TurtleBot3 with OpenManipulator has many function as SLAM, Navigation, Perception(For example, find an AR marker or a Ball) and Manipulation. So it can navigate anywhere based on map data it created and find an AR marker to use its own camera. Moreover, it is able to pick some object and move another pose to place it.
Below video shows special demo. You can see it how it works.
Next video includes a tutorial which explains how to play pick and place demo on Gazebo simulation.
You can get a more information about setup or launch it in WIKI page and source code is uploaded on Github.
Please feel free to ask anything to reply