Avoidance: PX4 + Jetson Companion + ZED2

Very new here so the learning curve is steep… I’ve gotten the Avoidance simulations running and now I’m trying to move to hardware. The readme seems focused on the deprecated “launch file generator” and there is a note about replacing the generator script with launch file examples.

I have the companion communicating with PX4 (mavros) and the ROS wrapper for the ZED is up. The avoidance node is built but now I’m looking for some help on the avoidance launch file for my specific hardware configuration…

I realize this is a bit of a noob situation and very open ended but I’m hoping someone can point me to some useful examples/resources.