Hello @Red24dog :slight_smile: We have a plan to be compatible with ROS2 though we don't have any details. We provide a [TurtleBot3 Wiki](http://emanual.robotis.com/docs/en/platform/turtlebot3/overview/) and it will be added more information soon for these software updates. Additionally, you don't need to connect separate speaker due to OpenCR already has it ;) Thanks Darby --- [Visit Topic](https://discourse.ros.org/t/turtlebot3-software-and-firmware-update-and-waffle-pi/3729/6) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: