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Switch and verify the RMW middleware implementation used by ROS 2 (Lyrical Luth) nodes via RMW_IMPLEMENTATION

Isolate and troubleshoot ROS 2 discovery across machines using ROS_DOMAIN_ID and the Fast DDS Discovery Server

Choose a ROS 2 QoS profile and diagnose an incompatible publisher/subscriber QoS mismatch

Record and replay ROS 2 topic, service and action data with rosbag2

Install ROS 2 Lyrical Luth on Ubuntu from Debian packages and verify with the talker/listener demo

Compose multiple ROS 2 (Lyrical Luth) nodes into one process using a component container and the ros2 component CLI

Broadcast a pose as a tf2 transform from a ROS 2 (Lyrical Luth) Python node and verify it with tf2_echo

Broadcast a pose as a tf2 transform from a ROS 2 (Lyrical Luth) Python node and verify it with tf2_echo

Write a Python launch file for ROS 2 (Lyrical Luth) that starts multiple nodes with namespaces, arguments and topic remappings

Declare, get and set ROS 2 (Lyrical Luth) node parameters from Python, the CLI, and a launch file

Implement a ROS 2 (Lyrical Luth) action server and action client in Python (rclpy) with feedback and goal handling

Define custom .msg and .srv interfaces in a dedicated ament_cmake package and use them from Python in ROS 2 (Lyrical Luth)

Write an rclpy service server and async client (AddTwoInts) in ROS 2 (Lyrical Luth)

Write and run a minimal rclpy publisher and subscriber node in ROS 2 (Lyrical Luth)

Create a ROS 2 (Lyrical Luth) ament_python package and build it with colcon