tried SLAM, installed Cyclone, now nothing works anymore

edit

Hi,

I try to implement SLAM with ROS 2 following this tutorial

https://roboticsbackend.com/ros2-nav2...

since then I cannot launch a simple transform publisher

pi@ros-pi:~$ ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 world lazer_frame
[WARN] [1691420361.118495555] []: Old-style arguments are deprecated; see --help for new-style arguments
1691420361.125257 [1] static_tra: 127.0.0.1: does not match an available interface
1691420361.125257 [1] static_tra: 127.0.0.1: does not match an available interface
[ERROR] [1691420361.125447428] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error

>>> [rcutils|error_handling.c:108] rcutils_set_error_state()
This error state is being overwritten:

  'error not set, at ./src/rcl/node.c:263'

with this new error message:

  'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'

rcutils_reset_error() should be called after error handling to avoid this.
<<<
[ERROR] [1691420361.125647515] [rcl]: Failed to fini publisher for node: 1
terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
  what():  failed to initialize rcl node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[ros2run]: Aborted

I tried removing cyclone since the repository seems to be archived (wtf ?)

https://github.com/ros2/rmw_cyclonedd...

I reset my .bashrc

...
export ROS_DOMAIN_ID=1
export ROS_LOCALHOST_ONLY=1
source /opt/ros/humble/setup.bash

and now nothing works anymore

pi@ros-pi:~$ ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 world lazer_frame
[ERROR] [1691420889.635300227] [rcl]: Error getting RMW implementation identifier / RMW implementation not installed (expected identifier of 'rmw_cyclonedds_cpp'), with error message 'failed to load shared library 'librmw_cyclonedds_cpp.so' due to dlopen error: librmw_cyclonedds_cpp.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99, at ./src/functions.cpp:65', exiting with 1., at ./src/rcl/rmw_implementation_identifier_check.c:139

I tried rebuilding/re-setup my work folder, still the same it complains cyclone is missing while it was working perfectly fine before the install?

• do I have to scratch everything and reinstall ubuntu/ros2 ?
• why is ROS2 so complicated to use ?

thanks