Ensure you have

• OS: Ubuntu 24.04 (Noble Numbat)
• ROS Distro: ROS 2 Jazzy
• Gazebo: Harmonic

Dependencies

Install the required ROS 2 packages :

sudo apt update sudo apt install ros-jazzy-ros-gz
ros-jazzy-ros2-control
ros-jazzy-ros2-controllers
ros-jazzy-gz-ros2-control
ros-jazzy-rtabmap-rosv

Clone and build

git clone https://github.com/BettBrian/ros2_ws.git cd ros2_ws

Build

colcon build --symlink-install

Source

source install/setup.bash

Run main lauch

ros2 launch project project.launch.py

Run rtab_map

ros2 launch project rtabmap.launch.py