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[ROS2][Refact] Replace device_id by frame_id 3 of 4 checklist items completed
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[ROS2][fix] Fix and clean launch files 4 of 4 checklist items completed
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[refact] Replace device_id by frame_id 1 of 1 checklist item completed!315
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[ROS2][feat] Integrate loop closure into ros2 wrapping 5 of 6 checklist items completed
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[ROS2][fix] Fix multiple issues in converters 3 of 3 checklist items completed