1. Ubuntu18.04の環境で動くROSがないと動かせません

2. 動かす際のコマンド一覧↓

roscore
rosrun rosserial_python serial_node.py /dev/ttyACM0

rosrun joy joy_node
roslaunch  teleop_twist_joy  teleop.launch
rosrun teleop_twist_keyboard teleop_twist_keyboard.py

roslaunch cartgrapher_navigation cartgrapher_navigation.launch