ros2 pkg create --build-type ament_cmake [package_name]		

colcon build --packages-select sin

rosdep install --from-paths src --ignore-src --rosdistro foxy
rosdep install -r --from-paths . --ignore-src --rosdistro foxy -y

ros2 topic pub --once /turtle1/cmd_vel geometry_msgs/msg/Twist '{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}'
ros2 topic pub --once /goal_pose geometry_msgs/PoseArray "{header: {frame_id: 'map'},        poses: [{position: {x: 4.0, y: 4.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}, {position: {x: 4.0, y: 4.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}]}"
ros2 topic pub --once /goal_pose geometry_msgs/PoseArray "{header: {frame_id: 'base_frame'}, poses: [{position: {x: 4.0, y: 4.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}, {position: {x: 1.1, y: 0.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}]}"

export ROS_DOMAIN_ID=43

export LD_LIBRARY_PATH=/opt/ros/noetic/lib

ros2 launch realsense2_camera rs_launch.py &
ros2 run ros1_bridge dynamic_bridge &
ros2 launch gauge_reader gauge_node_launch.py &