A ROS1 Noetic catkin workspace mainly for this project.
Full installation steps & guide here.

Environment Setup

$ git clone [HTTPS/SSH]

Because my setup was headless (monitorless) and the server image (desktopless) of Ubuntu was flashed onto the Raspberry Pi, opening multiple terminals for different nodes was done with a terminal multiplexer, tmux:

$ sudo apt install tmux

Source environment (or add to ~/.bashrc):

$ source /opt/ros/noetic/setup.bash
$ source ~/catkin_ws/devel/setup.bash
$ export PATH="$HOME/bin:$PATH"

Run the bash script in ~/bin/dev to automatically bring up this screen layout:

Catkin Workspace File Tree

├── build
├── devel
└── src
    ├── CMakeLists.txt
    └── robotic_quadruped_pkg
        ├── CMakeLists.txt
        ├── launch
        ├── include
        ├── package.xml
        └── src
            ├── test_files
            ├── Nicla_node.cpp
            ├── RP2040_node1.cpp
            ├── RP2040_node2.cpp
            ├── camera_servo_node.cpp
            ├── keyboard_node.cpp