The package is available at maze2
The question is available at arashsm79 repo.
First, another castor wheel is added to balance robot, and the odometry and diff-drive plugins are also added. Odometry between odom and chassis frames is published on odom topic:
In this exercise, the tf(with remapping) and LIDAR topics are converted to ROS2 topics usingros_gz_bridge. Two static transform nodes are also added in the launch file.
The previous package LIDAR topics is illustrated in Rviz2:
