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Draft: [ROS][refact] Prepare switch to ROS2

Tong Fu requested to merge ros/refact/PrepareSwitchToROS2 into master

To do

  • Check synchronisation from ros2
  • Verify and update documentation
  • Use branch ROS1/SlamRos1Wrapping
  • Check CI
  • Test on docker
Edited by Tong Fu

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