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Hi @dan - it shouldn't be that hard to add gyro support but (as the author of the ros_arduino_bridge package), I don't have the time to do it myself right now. Anyone else is welcome to fork the repo and give it whirl. A good place to start might be the Turtlebot code.

FWIW, I do not use a gyro on Pi Robot and I am able to do SLAM and AMCL just fine using wheel odometry alone, albeit with a laser scanner. If I remember correctly, the original reason to put a gyro on the Create-based TurtleBot was because the wheel odometry was rather unreliable, especially when turning.

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