@Tom_Moore, thanks for your detail reply. While you are focusing on Fuse core and fuse_rl that will eventually limit the usage of current r_l, as you mentioned, "getting `r_l` properly working in ROS2 is a worthwhile exercise", we can continue to put effort on that line for now. @mkhansen, As Tom mentioned that you might be verifying the ROS2 functionality of r_l, please let me know if you want to assist you in that excercise. --- [Visit Topic](https://discourse.ros.org/t/robot-localization-porting-to-ros2/6379/3) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: