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"need to convert from the ROS/Gazebo architecture to robot specific communication protocols for each sensor"

  1. Find out the specific format that your hardware expects.
  2. Write up some "interface" code which does the conversion between ROS and the actual hardware.

Also take a look at ROS wrappers (#q225518 and #q202000)

"need to convert from the ROS/Gazebo architecture to robot specific communication protocols for each sensor"

  1. Find out the specific format format/communication-protocol that your hardware expects.
  2. Write up some "interface" code which does the conversion between ROS and the actual hardware.

Also take a look at ROS wrappers (#q225518 and #q202000)