tiago_simulation

cd docker
docker-compose up --build

https://www.digitalocean.com/community/tutorials/how-to-install-and-use-docker-compose-on-ubuntu-20-04

docker ps
docker exec -it <container-id> bash

roslaunch tiago_gazebo tiago_gazebo.launch public_sim:=true end_effector:=pal-gripper (inside container)

Install ROS 2

https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html

Next

sudo apt install ros-galactic-ros1-bridge (Requires ROS1 and ROS2)

Open new terminal

source /opt/ros/noetic/setup.bash 
source /opt/ros/galactic/setup.bash
ros2 run ros1_bridge dynamic_bridge

ros2 topic pub /mobile_base_controller/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}}"