TurtleBot3 With OpenMANIPULATOR

This is off topic, but does anyone have an idea for a simple and ecological system for attaching the gripper arm to the waffle pi turtlebot 3 robot?

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The ROBOTIS eManual page for the TB3 features a tutorial for setting up that configuration. Additionally, the free ROS Programming textbook has it’s final chapter dedicated to manipulation with the TB3