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
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