Own a condo since 2001 had to move out and live with my parents.

I own a condo since 2001 I lived there till 2016. I  had to move out and live with my parents so I can help take care of them. I rented out the condo while living with my parents. I plan on selling it when the renters move out how would I claim this next year and will I have to Pay Capital gains on the condo since it is the only property I own, OR do I have to purchase a new property and what is the time frame if I have to?