@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.
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