Drive a Differential Base with cmd_vel and Twist

Goal

Understand cmd_vel and Twist messages, then teleoperate and test the robot safely.

Procedure

1. Raise the drive wheels or clear the test area.
2. Launch the base controller.
3. Use keyboard teleoperation.
4. Send small manual Twist commands and verify direction.

Verification

Record the command output, confirm the expected ROS 2 topic or behaviour, and resolve power, TF and device-permission errors before continuing.