laiagomez/my_rUBot_mecanum ? reverse-engineered prompt

Build me a ROS2 project for a custom mecanum wheel robot and also support a Limo robot, with a clean setup for simulating and controlling both.

I want the repo to let me launch the robot, move it around, and test basic navigation or teleop in a simple way. Please organize it so it feels easy to use and easy to extend, with separate code and config for the robot parts, network setup, and any helper tools. If there are places where the latest ROS2 docs or current best practices matter, look them up online and use them.

Also include clear README instructions for how to run everything from a fresh install, and make it practical for someone who wants to try the robot in simulation first and then on real hardware. If it helps, add any simple scripts or launch files needed to make the whole thing work smoothly.