This was mainly inspired by: https://gist.github.com/JADC362/a4425c2d05cdaadaaa71b697b674425f
Actually, a better reference is: https://www.youtube.com/watch?v=uqqHgYsskJI&list=PL2dJBq8ig-vihvDVw-D5zAYOArTMIX0FA&index=7&ab_channel=Polyhobbyist
As of writing, I was using:
- ROS2 Humble
- Ubuntu22.04
- amd64 platform