How to do a ROS2 and px4 with Gazebo integration similar to the Ros1 and gazebo example

I want to replicate the same to run ros2 and px4 with gazebo as shown in the example in this link: ROS with Gazebo Simulation | PX4 User Guide.
Specifically this section of code.

cd <PX4-Autopilot_clone>
DONT_RUN=1 make px4_sitl_default gazebo
source ~/catkin_ws/devel/setup.bash    # (optional)
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
roslaunch px4 posix_sitl.launch