sudo apt-get install gz-harmonic
sudo apt install ros-jazzy-cartographer ros-jazzy-cartographer-ros
sudo apt install ros-jazzy-navigation2 ros-jazzy-nav2-bringup
sudo apt install ros-jazzy-rviz2 ros-jazzy-rqt*

cd ros_ws/src
git clone -b jazzy https://github.com/ROBOTIS-GIT/DynamixelSDK.git
git clone -b jazzy https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b jazzy https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b jazzy https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
colcon build --symlink-install

geometry_msgs/PoseWithCovariance pose
  geometry_msgs/Pose pose
    Point position          # x, y, z
    Quaternion orientation  # rotation
  float64[36] covariance

geometry_msgs/TwistWithCovariance twist
  Twist twist
    Vector3 linear
    Vector3 angular
  float64[36] covariance

export TURTLEBOT3_MODEL=waffle_pi
export ROS_DOMAIN_ID=30
ros2 launch turtlebot3_lab05 lab05_complete.launch.py

ros2 run turtlebot3_teleop teleop_keyboard

# Manual publish alternative
ros2 topic pub --rate 10 /cmd_vel geometry_msgs/msg/TwistStamped \
'{header: {frame_id: ""},
  twist: {linear: {x: 0.2, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.1}}}'

ros2 topic list
ros2 topic info /scan
ros2 topic hz /scan
ros2 topic hz /odom
ros2 interface show sensor_msgs/msg/LaserScan
ros2 interface show nav_msgs/msg/Odometry

ros2 run tf2_tools view_frames
ros2 run tf2_ros tf2_echo map base_link

ros2 topic echo /cmd_vel --once
ros2 topic info /cmd_vel