Publish odom base_link ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_link
Publish map odom ros2 run rostron_nav localisation
Launch all ros2 launch rostron_bringup yellow_sim.launch.py
grsim
launch conv files ! ros2 run rostron_nav conv
ros2 run tf2_ros tf2_echo map odom