Limit the LDS range scan on the TurtleBot3

edit

ROS version: Kinetic Robot: Turtlebot 3 waffle_pi

Hello, I am a newbie to ROS and I am trying to implement DQN based machine learning system to avoid moving obstacles with Turtlebot 3 waffle_pi. Turtlebot3’s LDS default range is set to 360 but I want to modify it to 24 as it is the requirement of the example. I managed to do this modification for a Gazebo simulation by editing the following file.

turtlebot3/turtlebot3_description/urdf/turtlebot3_burger.gazebo.xacro

  <samples>360</samples>            # The number of sample. Modify it to 24

Now I want to use this system on my real Turtle bot 3. How can I change this parameter on my real TB3? Is there a file to be modified in the raspberry pi sd card?

Any help and suggestions are highly appreciated. Thanks in advance.