I am designing a small robot where i need to use some sensors and equipments like camera, imu, motor driver etc. What i'm trying to do is write/modify the device drivers and libraries with xenomai so that it can provide priority basis real time communication. For example for motor driver i'm planning to use EPOS4 motor driver from Maxon which has provided firmware and also library to control their motors.
Now my problem is is their any way i can write new driver library for this motor driver and other sensors without first buying the real hardware? Here i am also using Gazebo simulator where i have spawned the robot with all the sensors(camera,imu) which is providing moked sensor data. Can i somehow make this simulated hardware and the actual libraries/drivers communicate with each other so that once i buy the real hardware and sensors i don't have to write or test any library and drivers?