Turtlebot3 Burger - Dynamixel

edit

Hello,

I am unable to find if a control loop (using velocity PID ...) is implemeted directly in Dynamixel actuators on a Turtlebot 3 Burger.

There are ROS nodes in the firmware of the OpenCR, and I find how to modify code and send it to OpenCR.

But in Dynamixel actuators XL430-W250, there is also a Cortex M3, where you can implement different kinds of feedback. I don't find information to know if this is used in Turtlebot 3 and if so how to program it.

One key point for this is: if i ask the turblebot to go straight and if there is no obstacle on the path, is turtlebot going straight or do i have to implement a correction on the speed for each wheel ?

Thanks for help,

Goupil