cd ~/ros2_foxy
colcon build --symlink-install --packages-select ros2_rt_dualarm
~/ros2_foxy/src/ros2_rt_dualarm/bin/ros2_rt_dualarm
cd ~/ros2_foxy
ros2 launch ros2_rt_dualarm dualarm.launch.py
cd ~/ros2_foxy
ros2 launch ros2_rt_dualarm dualarm_sim.launch.py
~/ros2_foxy/src/ros2_rt_dualarm/bin/ros2_rt_dualarm_ros2_sim
~/ros2_foxy/src/ros2_rt_dualarm/bin/ros2_rt_dualarm_bullet_sim