There is a ROS2 branch for obstacle avoidance via Auterion, but it is very outdated and may not work in Humble (I have not tried).
Alternatively a researcher modified the ros2 obstacle avoidance with risk based speed-up. Unfortunately the octomap grid occupancy algorithms are very slow and should be replaced with the faster Bonxai implementation
If there is still no progress in ROS2, I will try to fix the packages and convert them to ROS2. However, I will need help with some aspects; the messages sent to PX4 and, as far as I can see, some of the px4_msgs files in the PX4 avoidance will give errors because px4_msgs has changed. Can you help me with these parts, @Jaeyoung-Lim ?
I see this is a popular topic, however this post is not really helping, to this time there’s no open source project by the PX4 team that supports ROS 2 and is maintained.
If the community would like to pitch in and create a project, please open a new post and start the discussion.
I will be closing this issue.