export ROS_DOMAIN_ID=45
sudo apt install ros-foxy-xacro sudo apt install ros-foxy-joint-state-publisher ros2 control compilieren https://github.com/ros-controls/ros2_control sudo apt install python3-vcstool sudo apt install ros-foxy-test-msgs
service: ros2 service call /serialize_map slam_toolbox/srv/SerializePoseGraph "{filename: 'map'}" ros2 service call /save_map slam_toolbox/srv/SaveMap "{name: {data: ''}}" ros2 service call /deserialize_map slam_toolbox/srv/DeserializePoseGraph "{filename: 'map', match_type: 2, initial_pose: {x: 0.0, y: 20.0, theta: 0}}"