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You mentioned Clearpath Husky robot in your edit:

I think this clearpath husky code maybe close to what I was looking for; albeit not ros2 based

There was an announcement that ROS2 is now available for it:

https://clearpathrobotics.com/blog/2022/03/ros-2-now-available-on-husky-ugv/
https://clearpathrobotics.com/assets/guides/foxy/husky/ROSUpgrade.html

Of course, as in their repository:

Warning Upgrading to ROS2 may not have the same functionally as ROS:

Contact support at support@clearpathrobotics.com.

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