Greetings,

I'm currently working on a project involving a small differential robot using an ESP32CAM board. The robot's control of motors via a /cmd_vel topic is successfully implemented.

My primary challenge revolves around integrating the Lidar LDS-01 sensor (https://index.ros.org/p/hls_lfcd_lds_driver/), and the motor encoders with Micro-ROS. The publisher logic itself is not a problem, but connect those sensor and successfully obtain the data is.

Are there any recommended approaches or strategies for adapting and existing driver for ROS 2? Best regards!!