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How to control my robot in OpenHAB 2?

I am new in working with Turtlebot 3 and OpenHAB 2 and ROS.

I am working with TurtleBot 3 (Rasberry Pi 3) and ROS Kinetic and I need to get the position of my TurtleBot 3 in OpenHAB 2.

Do anyone knows that how can I make a bridge (if I need) between ROS and OpenHAB 2 to get the position of my robot and make some commands to control the robot through OpenHAB 2?

Thanks for your time in advance