Optimized for Nova robot arm from dobot under ros2 humble and ubuntu 22.04
Insall humble, moveit2, and gazebo
sudo apt install gazebo ros-humble-gazebo-* ros-humble-moveit ros-humble-moveit-setup-assistant ros-humble-moveit-* ros-humble-controller-manager ros-humble-joint-trajectory-controller ros-humble-joint-state-broadcaster -y