sudo sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install python3-colcon-common-extensions

mkdir -p ros_ws/src
cd ros_ws
colcon build
source install/setup.bash

# C++ package
ros2 pkg create my_first_pkg

# Python package
ros2 pkg create my_first_py_pkg --build-type ament_python --dependencies rclpy

touch ./my_first_py_pkg/my_first_py_pkg/my_first_node.py
chmod +x ./my_first_py_pkg/my_first_py_pkg/my_first_node.py

entry_points={
    'console_scripts': [
        "test_node = my_first_py_pkg.my_first_node:main"
    ],
},

colcon build --symlink-install
ros2 run my_first_py_pkg test_node

rqt_graph
ros2 node list
ros2 node info /my_first_node