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Hi AmateurHour,

I was looking for that too, finally I found it is defined in "OpenCR" instead of "Raspberry pi", so you can't find them in the node: "turtlebot3_core" launched by "turtlebot3_core.launch".

If you want to see the code, it is here, if you want to edit anything or change topics, you need to install Arduino by following this, then you will see the code in examples.

But your real issue is trying to launch two robots for SLAM, maybe you can try this.

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