Approach to convert from ROS2 to robot specific communication protocols when your robot does not run ROS?
We are using ROS2/Gazebo to create a simulation environment for our robot with a large set of virtual sensors. Our goal is to run our processor with robot code in the loop, but our robot code does not run ROS. We need to convert from the ROS/Gazebo architecture to robot specific communication protocols for each sensor. We are curious to learn how other projects have architected their solution to a similar scenario and/or if there is a recommended approach from the ROS/Gazebo experts.