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WillowGarage turtlebots actually have 3 different types of Gyros according to this page: https://kforge.ros.org/turtlebot/trac/ticket/111

The one that was at my university was an old willowgarage turtlebot and hence had a gyro that has a measurement range of 150deg/sec. Whereas the other three that were shipped to us very recently have 250deg/sec accuracy. Where is this mentioned?? The willow garage site only says 150deg/sec accuracy. Why don't they specify it clearly on the specifications page? This patch, on the page mentioned above, was the one we used and we calibrated the turtlebot 3-4 times after which the parameters converged. Then, we could build a neat map. The old one is a XRS613 Gyro whereas the new one is the XRS652.

Also the folder /etc/ros is generated only when we run the 'sudo install.bash <wireless interface="">' in the 'turtlebot_bringup/upstart' folder... But here it says 'OR'... 'OR' means we can skip one, right? But both seem very necessary.