I have slowly been working my way through the source, but haven’t made it to the odometry section yet. The Dynamixel motors are “smart” servos and perform their own position/velocity control and just report this info back the the Opencr board.
Sorry I wasn’t very clear with my plans. I want to use the Opencr board exactly as the TurtleBot3 does, but swap out the Dynamixel’s for larger motors with encoders. This will require the Opencr board to take on the servoing of the wheel motors and calculate odomerty on its own. I feel comfortable modifying the source to do this but wanted to see if anyone had advice or suggestions on adding encoders to into the mix.