Changing turtlebot3 model for simulation

Recently I would like to change the model of turtlebot3 for different simulation as I am using a different robot in real life. Where can I change the param of model in existing turtlebot3 simulation package provided from the e-manual and also changing the local planning method of the robot?
Thanks a lot !

Hi @turtlenewbie

In order to modify the 3D modeling of the robot, you can modify the URDF file which describes the robot.

The Navigation related parameters can be found in the param folder of the turtlebot3_navigation package.


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