Communication RaspberryPi<->OpenCr Turtlebot3 ROS2

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Hello,
I am a french student at an engineering school, and we use TurtleBot3 in our classes to learn ROS2. I have a project that involves creating a tutorial for operating the TurtleBot3 with ROS2, and I would like to understand in depth how communication works between the Raspberry Pi and the OpenCR board of a TurtleBot3 with ROS2.

In this forum, I read that the Dynamixel 2.0 protocol is used. However, my issue is that during the firmware installation on the OpenCR, I noticed that the Arduino code is the same for both ROS1 and ROS2 (TurtleBot3). With ROS1, a serial communication is established using the rosserial package. This package no longer exists in ROS2!

I am therefore unable to understand how the Dynamixel 2.0 protocol works with ROS2. Can you provide some clarification?

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Arthur,

The OpenCR code actually does differ between ROS1 and ROS2, as the interface did need to be changed to account for differences between ROS1 and 2.