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The TurtleBot power board has a gyro attached to the analog in. The create reads the data from the analog input and publishes it on imu/data. Set the has_gyro parameter to false and then it should not publish gyro data anymore.

The TurtleBot power board has a gyro attached to the analog in. The create reads the data from the analog input and publishes it on imu/data. Set the has_gyro parameter to false and then it should not publish gyro data anymore.

To publish your own gyro data to ROS you need to either use an existing ROS driver for your gyro or write your own ROS drive to publish an Imu msg on the imu/data topic.

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