I believe the Trossen one has a more advanced Real Sense camera than you could get with the Robotis original Turtlebot 3 Waffle, but maybe following their instructions for using/setting up the Realsense camera might work.

More details up at: http://emanual.robotis.com/docs/en/p...dix_realsense/
I have a R200 camera which I need to get back to playing with.

Their instructions are for installing an earlier 1.8 version of their driver. I think the later versions are for the newer cameras.

Hope that helps