Build: colcon build
Install dependencies: rosdep update --rosdistro=jazzy && rosdep -i install --from-paths src --rosdistro jazzy -y --skip-keys="pcl"
Run sim: ros2 launch sub_bringup sim_launch.py
Run pool test: ros2 launch sub_bringup pool_test_launch.py
If you are having issues with DDS (rmw_create_node: failed to create domain), run pkill -f ros.