Robbie update

 I haven't done a update in a while Robbie now runs ROS2 humble on a single RPI4

ROS2 humble is at last at the same level as ROS1, but in general it works much better. Navigation is much more stable and works out of the box the ability to do mapping and use move_base at the same time makes mapping quicker. the work flow is now 

• start the robot , 
• launch slam and navigation 
• set points in RVIZ until the map is complete
• save the map in RVIZ

using the way point navigator feature in RVIZ you can set the way points you would

like the robot to traverse press run and the robot moves the course. very little effort required.