custom OpenCR firmware

[DarkieThomas]

Operating System:

Ubuntu 22.04

ROS version :

Ros2 Humble

Turtlebot3 Model:

Burger

Description

I've got three different turtlebot3 robots, and I made one robot on 4-wheel chassis. Using Raspberry pi3 model B+ Lds-01 and openCR, but when i run turtlebot bringup even that I can't control two motors. I give them different ID, they all working with arduino ide. I've got two thoughts:

1. Using openCR 1.0 as u2d2 hub, but there is no information in the internet
2. Make custom firmware for openCR to be able to control 5 different motors and getting odom back.

Now if i'm using dynamixel example set position i get error about can't open the port, but i've got all the rules -aG, i see openCR as ttyACM0, maybe I'm doing some wrong...
Please help

Steps to reproduce issue

Motors XL430 wl250
Everything else is working, lidar etc.

What Have You Tried?

- Try every OpenCR firmware available

Relevant logs / Terminal output

Screenshots or Diagrams

No response

Additional Information (Optional)

Is it even possible to control 5 different motors on openCR?