Thanks for the feedback, a couple questions.
3. I think you mean AI Gym, right? If so, are you aware of the [gym-gazebo](
https://github.com/erlerobot/gym-gazebo) project? I have been using it for some RL work in this space. I believe it could be ported to ROS2 fairly easily also.
4. What map types are you thinking in particular? Google Maps? Non-2D occupation grid maps?
5. 3D is on my wish list too, for applications like drones.
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