we need only these three steps for ros2: write yml file write urdf file write launch file

sudo apt install ros-humble-gazebo-ros* ros2 run xacro xacro my_robot.xacro > my_robot.urdf ros2 launch rom2109_gazebo simulation.launch.py ros2 run teleop_twist_keyboard teleop_twist_keyboard /cmd_vel:=/cmd_vel_keyboard

ros2 interface proto sensor_msgs/msg/Imu ros2 topic list ros2 topic info /diff_cont/odom ros2 interface proto nav_msgs/msg/Odometry ros2 topic echo /diff_cont/odom ros2 topic list ros2 topic info /imu_plugin/out ros2 interface proto sensor_msgs/msg/Imu ros2 topic list ros2 topic info /scan ros2 interface proto sensor_msgs/msg/LaserScan ros2 topic echo sensor_msgs/msg/LaserScan ros2 topic echo /scan

Hardware: micro-controller (stm32, ) motor motor driver lidar IMU battery computer (miniPC, Pi, JetsonNano)

Simulation (Gazebo): Robot Body Design (URDF file) Description package (urdf file read, robot state & joint state launch) ros2_control_name tag xacro, gazebo plugin (sensors, hardware interface) > Generate urdf file ros2_control config yaml file gazebo package (diff_cont, joint_broad, spawner robot, gazebo, description launch, rvit)

Actual Robot: Micro-controller Firmware and communicate with pc Serial Communication + ros2_control Robot Body Design (URDF file) Description package (urdf file read, robot state & joint state launch) ros2_control_name tag xacro, plugin microcontroller hardware interface Name Hardware Interface ros2_control config yaml file controller package (diff_cont, joint_broad, controller_manager, robot_state)