@astralien3000, I am also interested in RIOT project. I think that it is a very efficient idea to put various sensors in the environment by using ROS and to collect the sensor information and use the robot like the following papers. The following papers used ROS1. However, ROS2 is more environmentally friendly than ROS1. I want to think about your ideas and talk together. The RIOT is a wonderful project.
- [Development of ROS-TMS 5.0 for informationally structured environment](
https://rdcu.be/7mK4)
- [Service Robot System with an Informationally Structured Environment](
http://dx.doi.org/10.1016/j.robot.2015.07.010)
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