sudo apt-get install gz-jetty
sudo apt install ros-jazzy-ros-gz   # bridge + sim + image packages

# Verify
ros2 doctor
gz sim --version

gz sim shapes.sdf      # GUI
gz sim -s               # server only (headless)
gz sim -g               # GUI only
gz sim -v 4              # verbose

<link name="base_link">
  <inertial><mass>15.0</mass>...</inertial>
  <visual name="base_visual">...</visual>
  <collision name="base_collision">...</collision>
</link>

<sensor name="gpu_lidar" type="gpu_lidar">
  <topic>lidar</topic>
  <update_rate>10</update_rate>
  <lidar>
    <scan><horizontal><samples>640</samples>
      <min_angle>-1.57</min_angle><max_angle>1.57</max_angle>
    </horizontal></scan>
    <range><min>0.08</min><max>10.0</max></range>
  </lidar>
</sensor>

<plugin filename="gz-sim-diff-drive-system"
        name="gz::sim::systems::DiffDrive">
  <left_joint>left_wheel_joint</left_joint>
  <right_joint>right_wheel_joint</right_joint>
  <wheel_separation>0.5</wheel_separation>
  <wheel_radius>0.08</wheel_radius>
  <topic>/model/warehouse_robot/cmd_vel</topic>
  <odom_topic>/model/warehouse_robot/odometry</odom_topic>
</plugin>

<include>
  <name>warehouse_robot</name>
  <pose>-4 -4 0.1 0 0 0</pose>
  <uri>model://mobile_warehouse_robot</uri>
</include>

- ros_topic_name: "/cmd_vel"
  gz_topic_name: "/model/warehouse_robot/cmd_vel"
  ros_type_name: "geometry_msgs/msg/Twist"
  gz_type_name: "gz.msgs.Twist"
  direction: ROS_TO_GZ

- ros_topic_name: "/odom"
  gz_type_name: "gz.msgs.Odometry"
  direction: GZ_TO_ROS

warehouse_simulation/
├── package.xml
├── setup.py
├── launch/warehouse_simulation.launch.py
└── config/bridge.yaml

gz_sim = IncludeLaunchDescription(
    PythonLaunchDescriptionSource(
        os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')),
    launch_arguments={'gz_args': f'-r {world_file}'}.items())

bridge = Node(
    package='ros_gz_bridge',
    executable='parameter_bridge',
    arguments=['--ros-args', '-p', f'config_file:={bridge_config}'])

colcon build --packages-select warehouse_simulation
source install/setup.bash

ros2 launch warehouse_simulation warehouse_simulation.launch.py

ros2 topic list
# /cmd_vel  /odom  /scan  /tf ...