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The Dynamixel is a high-performance actuator with a fully integrated DC Motor + Reduction Gearhead + Controller + Driver + Sensors(like encoder) + Network, all in one servo module actuator. So you can replace it with a DC motor, but you have to program the motor, driver, encoder and associated control routines.
If you have a motor, driver, and encoder, you can achieve your goal with the basic component of TurtleBot3, OpenCR. OpenCR is developed for ROS embedded systems to provide completely open-source hardware and software. Everything about the board; Schematics, PCB Gerber, BOM and the firmware source code for the TurtleBot3 are free to distribute under open-source licenses for users and the ROS community. OpenCR supports the Arduino IDE, so you can use a variety of Arduino libraries. Please see documents below for more information. http://emanual.robotis.com/docs/en/parts/controller/opencr10/
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