Note that the shim layer mentioned in the design document linked above is mostly at the CMake level. As most sensor drivers rely heavily on nodelets for performance, I don't think foresee shiming as being a suitable approach to port sensors to ROS2. It will likely be better to convert the driver to use ROS2 directly instead, as nodelets don't exist in ROS2 (every node can be a nodelet, see
https://github.com/ros2/ros2/wiki/Composition for more details on node composition in a single process).
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