What are the steps to implement a real robot in ROS2

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I am building a 4 wheels robot with a camera, an IMU and a Lidar sensor. I've got only URDF and launch files working and correctly implemented for Rviz and Gazebo.

The URDF has the following plugins:

• libgazebo_ros_skid_steer_drive (topic /cmd_vel)
• libgazebo_ros_ray_sensor (topic /scan)
• libgazebo_ros_camera (topic /camera/image_raw and /camera/points)
• libgazebo_ros_imu_sensor (topic /imu)

On the topic side I've got others and those main ones /tf /tf_static and /joint_states

I am about to wire all the hardware in order to complete the real robot. I need some help to validate the steps needed to implement the real robot.

1. Install ros_control
2. Create a controller package
3. Create hardware interface for the 4 wheels. I guess I need to publish position and velocity not sure where or maybe create a driver interface to subscribe to data in order to move the wheels
4. Create hardware interface for the camera and publish the data on image_raw and point
5. Create hardware interface for the lidar and publish data to /scan (not sure if pointcloud is needed)
6. Create hardware interface for the imu and publish the data to /imu
7. Optionally configure nav2 not sure how (help appreciated)
8. Create an action for specific task as follow a line using camera (any sample code will be useful)

Any help or resource link will be appreciated. Thanks