ROS package Setup 

  colcon build --symlink-install
  
  source install/setup.sh
  
  ros2 launch <package_name> <launchfile>

Keyboard 

  ros2 run teleop_twist_keyboard teleop_twist_keyboard

or

  ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --params-file del.yaml

ROS debug

Display TF tree

  ros2 run rqt_tf_tree rqt_tf_tree

Display node graph

  rqt_graph

WSL specific

usb connection (open cmd in admin mode) 

  usbipd list
usbipd bind --busid <busid>
usbipd attach --wsl --busid <busid>
  
  mkdir my_ws/src
ros2 pkg create --build-type ament_python --license Apache-2.0 --node-name my_node my_package