Hi@Murali25111993The link below has a navigation project that has similarities with your setup, as it uses differential drive, move_base, Arduino, Rosserial and cmd_vel. The main differences are that they are using Jetson Nano instead of TX2, ROS Melodic instead of Noetic and RealSense T265...
ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else. - navigation/move_base/src/move_base.cpp at noetic-devel · ros-planning/navigation