Turtlebot compatibility topics src actions

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Hello,

I have a robot on 2 wheels, which work very well under ROS. I'm able to control the robot but I want to modify my package to be able to be compliant with interface of turtlebot, so that I will be able to use packages which work with turtlebot hardware (kobuki) like turtlebot_follower, turtlebot_navigation ...

I looked at the API but it's quite obvious.

Could someone tell me where I can find information on this: - what are the topics/services/actions used by turtlebot kobuki and description of messages ...; - is-it needed to have a IMU on our robot to be compliant with the interface ?

Thanks for reply.

PS: I'm familiar with ROS and C++ development.