mkdir -p ~/nav2_ws/src
cd nav2_ws/src/
git clone https://github.com/ros-planning/navigation2.git -b humble
cd nav2_ws/
sudo apt update && rosdep update
sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup ros-humble-turtlebot3*
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro $ROS_DISTRO 
colcon build --symlink-install

--- stderr: nav2_util                              
In file included from /home/thomasluk/nav2_ws/src/navigation2/nav2_util/include/nav2_util/lifecycle_service_client.hpp:24,
                 from /home/thomasluk/nav2_ws/src/navigation2/nav2_util/src/lifecycle_service_client.cpp:15:
/home/thomasluk/nav2_ws/src/navigation2/nav2_util/include/nav2_util/service_client.hpp: In instantiation of ‘nav2_util::ServiceClient<ServiceT>::ServiceClient(const string&, const SharedPtr&) [with ServiceT = lifecycle_msgs::srv::ChangeState; std::string = std::__cxx11::basic_string<char>; rclcpp::Node::SharedPtr = std::shared_ptr<rclcpp::Node>]’:
/home/thomasluk/nav2_ws/src/navigation2/nav2_util/src/lifecycle_service_client.cpp:35:3:   required from here
/home/thomasluk/nav2_ws/src/navigation2/nav2_util/include/nav2_util/service_client.hpp:49:15: error: cannot convert ‘rclcpp::ServicesQoS’ to ‘const rmw_qos_profile_t&’ {aka ‘const rmw_qos_profile_s&’}
   49 |       rclcpp::ServicesQoS(),
      |               ^~~~~~~~~~~~~
      |               |
      |               rclcpp::ServicesQoS
In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/thomasluk/nav2_ws/src/navigation2/nav2_util/include/nav2_util/service_client.hpp:20,
                 from /home/thomasluk/nav2_ws/src/navigation2/nav2_util/include/nav2_util/lifecycle_service_client.hpp:24,
                 from /home/thomasluk/nav2_ws/src/navigation2/nav2_util/src/lifecycle_service_client.cpp:15:
/opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:127:29: note:   initializing argument 2 of ‘typename rclcpp::Client<ServiceT>::SharedPtr rclcpp::Node::create_client(const string&, const rmw_qos_profile_t&, rclcpp::CallbackGroup::SharedPtr) [with ServiceT = lifecycle_msgs::srv::ChangeState; typename rclcpp::Client<ServiceT>::SharedPtr = std::shared_ptr<rclcpp::Client<lifecycle_msgs::srv::ChangeState> >; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_s; rclcpp::CallbackGroup::SharedPtr = std::shared_ptr<rclcpp::CallbackGroup>]’
  127 |   const rmw_qos_profile_t & qos_profile,
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~
In file included from /home/thomasluk/nav2_ws/src/navigation2/nav2_util/include/nav2_util/lifecycle_service_client.hpp:24,
                 from /home/thomasluk/nav2_ws/src/navigation2/nav2_util/src/lifecycle_service_client.cpp:15:
/home/thomasluk/nav2_ws/src/navigation2/nav2_util/include/nav2_util/service_client.hpp: In instantiation of ‘nav2_util::ServiceClient<ServiceT>::ServiceClient(const string&, const SharedPtr&) [with ServiceT = lifecycle_msgs::srv::GetState; std::string = std::__cxx11::basic_string<char>; rclcpp::Node::SharedPtr = std::shared_ptr<rclcpp::Node>]’:
/home/thomasluk/nav2_ws/src/navigation2/nav2_util/src/lifecycle_service_client.cpp:36:3:   required from here
/home/thomasluk/nav2_ws/src/navigation2/nav2_util/include/nav2_util/service_client.hpp:49:15: error: cannot convert ‘rclcpp::ServicesQoS’ to ‘const rmw_qos_profile_t&’ {aka ‘const rmw_qos_profile_s&’}
   49 |       rclcpp::ServicesQoS(),
      |               ^~~~~~~~~~~~~
      |               |
      |               rclcpp::ServicesQoS
In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/thomasluk/nav2_ws/src/navigation2/nav2_util/include/nav2_util/service_client.hpp:20,
                 from /home/thomasluk/nav2_ws/src/navigation2/nav2_util/include/nav2_util/lifecycle_service_client.hpp:24,
                 from /home/thomasluk/nav2_ws/src/navigation2/nav2_util/src/lifecycle_service_client.cpp:15:
/opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:127:29: note:   initializing argument 2 of ‘typename rclcpp::Client<ServiceT>::SharedPtr rclcpp::Node::create_client(const string&, const rmw_qos_profile_t&, rclcpp::CallbackGroup::SharedPtr) [with ServiceT = lifecycle_msgs::srv::GetState; typename rclcpp::Client<ServiceT>::SharedPtr = std::shared_ptr<rclcpp::Client<lifecycle_msgs::srv::GetState> >; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_s; rclcpp::CallbackGroup::SharedPtr = std::shared_ptr<rclcpp::CallbackGroup>]’
  127 |   const rmw_qos_profile_t & qos_profile,
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~
gmake[2]: *** [src/CMakeFiles/nav2_util_core.dir/build.make:104: src/CMakeFiles/nav2_util_core.dir/lifecycle_service_client.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:210: src/CMakeFiles/nav2_util_core.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< nav2_util [2.40s, exited with code 2]
                                 
Summary: 6 packages finished [4.07s]
  1 package failed: nav2_util
  2 packages had stderr output: nav2_simple_commander nav2_util
  31 packages not processed