Lineturtle ROS2 Package

   cd ros2_ws/src/
   
2. Clone this repository to your ROS2 workspace:
   
```bash
   git clone https://github.com/robofuntastic/lineturtle.git
3. Clone teleop_twist_joy repository (becuse lineturtle depends on the package) to your ROS2 workspace:
   
```bash
   git clone https://github.com/ros2/teleop_twist_joy.git -b foxy
4. Clone micro-ROS-Agent repository (becuse lineturtle depends on the package) to your ROS2 workspace:
   
```bash
   git clone https://github.com/micro-ROS/micro-ROS-Agent.git -b foxy
5. Build the ROS2 package and install dependencies:
   
```bash
   cd  ..
   rosdep install --from-paths src --ignore-src -r -y
   colcon build --symlink-install
   source install/local_setup.bash
6. Edit the config file /teleop_twist_joy/config/xbox.config.yaml, clear it and paste this
   
```bash
   teleop_twist_joy_node:
     ros__parameters:
       axis_linear: # right thumb stick vertical
         x: 4
       scale_linear:
         x: 0.15
       scale_linear_turbo:
         x: 0.3
       axis_angular: # right thumb stick horizontal
         yaw: 3
       scale_angular:
         yaw: 0.2
       scale_angular_turbo:
         yaw: 0.4
       enable_button: 6 # Left trigger button
       enable_turbo_button: 4 # left trigger button
7. 3D print the robot body using these [STL files](https://github.com/robofuntastic/lineturtle/tree/main/CAD%20%26%203D%20Printing).
8. Gather all the components and configure your robot's hardware and connections as described in the [guide](https://github.com/robofuntastic/lineturtle/blob/main/circuit%20%26%20components/LineTurtle%20Circuit%20Diagram.pdf).
9. Upload the [microros sketch](https://github.com/robofuntastic/lineturtle/blob/main/esp32_microros/lineturtle_esp32_microros/lineturtle_esp32_microros.ino) to ESP32.
10. Launch the lineturtle robot
   
```ros2 launch lineturtle lineturtle_launch.py