andrea-espo/tethered-multi-robot-cooperative-transport ? reverse-engineered prompt

Build me a ROS 2 Jazzy project for two TurtleBot3 Burger robots that can move together while tied with a flexible tether and carry a payload between them.

I want the robots to work in a coordinated way in indoor spaces, with obstacle aware navigation, a shared virtual center, and formation control that adjusts as they move around things. Please include the launch files, the navigation setup, the scripts for coordinating the robots, and the map and parameter files needed to run it. It should support separate namespaces for each robot and work with Nav2, Cartographer, and the standard TurtleBot3 bringup and teleop tools.

If anything in the TurtleBot3 docs has changed for ROS 2 Jazzy, look up the current setup online and follow the latest recommended approach. Make it easy to run from a normal workspace, and include sensible defaults so I can test the full cooperative transport flow without having to wire everything together by hand.