Creating o defining the way to use UMAA from ROS2
This might be enough for an LLM. Humans need a bit more explanation and context to respond.
The path to switch to umaa from ros2 may be posible. Because they use the same path for data. But there is a lot to do for the data is id used on umaa.
UMAA isn’t really “defined” from ROS2 side — PX4 already exposes it via uORB → DDS bridge. In ROS2 you just use the generated topics/services (through px4_msgs) and build your node logic there. If you need a custom UMAA mapping, you’ll have to extend PX4’s uORB/UMAA definitions and then re-generate the ROS2 interfaces.