[ROS2] Resetting Turtlebot3 odometery to zero without rebooting it

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Hi everyone,

I am using a Turtlebot3 with an Raspberry Pi 3B+ for my masters degree project, running ROS2 Foxy on Ubuntu 20.04. I am finding it rather difficult to restart the robot every time I need the odometery to be reset to zero or when the odometery outputs some strange huge values at the start.

Hence, I would like to ask if there is a way to reset the odometery to zero in ROS2 Foxy using some script or command(s). This way there is not a need to reboot the robot to reset the odometery.