Assuming i want to use avoidance module, in a ROS2 system.
here is what i understand so far
PX4 SITL and PX4 flight controller have the same behavior i.e. the topology described here holds for both PX4 flight controller and SITL.
Avoidance is written in ROS1, communicates with the PX4/SITL using MAVlink. It does so by using MAVROS.
ROS (1) via ROS 2 Bridge (User Guide) | PX4 User Guide talks about ROS 1 and 2 bridge. this bridge is for normal ROS topics and does not talk about mavlink; this bridge would use FAST-DDS to translate ROS topics to uORB messages.
MAVROS now exists for ROS2. but this is an alpha version
Now, my questions,
Does the avoidance module would have to completely ported to ROS2?
AS mavros for ROS 2 now exists, the existing avoidance-px4 communication topology could be used, or would they have to be converted into uORB topics?
I have attached a node graph with topics for the complete avoidance simulation as a reference.