So two things have happened. One is a good thing and another is a bad thing.

The good news is that i have successfully inegrated ros 2 to the rover and controlled it using my laptop keyboard

The bad new is that my motor driver nowhas one burnt mosfet causing my right wheel to not turn front. So now i have to buy a new aone and exchange it.
In the mean time i can configure and tune the TOF sensor to scan its surroundings.