The code for this section is located here.
This is an introductory chapter, it contains some theory but has little practical application for our project. At the end you will get the robot, that is configured properly, so in the following sections we are going to use it as a base for navigation.
The theory is important though, as otherwise some details can easily be missed, so - regardless the fact that this code will be repeated and improved in later sections - I strongly recommend following this chapter and making sure the code works in your workspace, just for the sake of an exercise.
The robot I use in this section is based on a ROS2 official documentation, particularly, on a sam_bot. However, as always, there are some minor (or not so minor) problems I had to fix, plus sam_bot is written in a "one example covers all" style, which makes gradual learning difficult.
Instead, in the next few sections, I am going to create a simple bot, and add complexity in a step-by-step way. Result will be same as in an official tutorial, but learning will be much easier.