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Take a look at the tutorial mentioned in rezenders's comment and take a look also at turtlebot3 example: https://github.com/ROBOTIS-GIT/turtlebot3/tree/noetic-devel

you can see also: https://emanual.robotis.com/docs/en/platform/turtlebot3/sbc_setup/ (check what you need from left side menu)

Then you should be able to understand everything.

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