Can this simulation environment be ported to ROS2?

[tulingcheng86]

[matlabbe]

Maybe. There are many things to consider:

• The ros1 version is using specific PX4 and mavros versions, so the current px4 config or mavros connection may not work with latest code
• The Gazebo model may need to be updated for latest gazebo (e..g, px4 simulated controller the same?)
• nav2 config may be slightly different than nav stack on ros1, though should work like on ros1
• rtabmap launch file be ported to ros2 launch file, otherwise it should work like on ros1

It feels that a new repo (or new branch called ros2?) may need to be created as most things would change.

[matlabbe]

See ros2 branch