Hello,

i want to build a AGV with the Turtlebot3 burger, a magnetic guide sensor and a magnetic tape. I am currently trying to understand how to add a magnetic guide Sensor to the Turtlebot but i am still looking for a place to implement it. The open CR board has enough interfaces to connect to the sensor but i dont really know where i should put it and how to interact with it.

I couldnt find a guide how to implement a completly new sensor so i ask for help here.

Specs of my System: Modell: Turtlebot3-Burger Ros-Version: Noetic ROS-Master PC-OS: Ubuntu 20.04.6 LTS Sensor Interface: either 16Digital inputs or RS485 (depends on the sensor type/resolution which i order) Link to the Sensor: https://media.digikey.com/pdf/Data%20Sheets/Multi%20Dimension%20PDFs/AGV-TMR15XN.pdf

Should i add the Sensor to the OpenCR board or directly to the raspberry pi? And most importantly where can i add a sensor?

if you need more information just let me know =)

Thanks in advance, Michael