gz bridge yaml parameters
sudo apt install ros-jazzy-interactive-marker-twist-server
SLAM
sudo apt install ros-jazzy-slam-toolbox
Map saving: sudo apt install ros-jazzy-nav2-map-server
ros2 run nav2_map_server map_saver_cli -f my_map
Localization: sudo apt install ros-jazzy-nav2-bringup
Exploration:
ros2 launch explore_lite explore.launch.py