ROS2 and px4_fmu-v2

Hello Guys. I have to develop ros2 drivers for pixhawk but I am new to px4 and flight controllers. The flight controller which I have has px4_fmu-v2 firmware. To communicate with ros2 I need to run micrortps_client using the system console, but since I have px4_fmu-v2 therefore I can’t build code for px4_fmu-v2_rtps or in other words can’t find a code to build for v2_rtps. So my question is that does code for px4_fmu-v2-rtps is available like it is for v3,v4 and v5.