LeoRover Ros2 Humble support

[CptCamembert]

Hi,

I am trying to integrate the wx250 robotic arm with the rover, but the documentation is only valid for ROS1. For ROS2, it appears the robotic arm only runs humble and the Rover only runs Jazzy. I've tried having the arm packages run inside a jammy-humble docker container on the RPI4, but the change in RMW implementation between ROS2 humble and ROS2 jazzy are making things quite difficult.

I was able to get most of the arm packages (minus moveit) to run in jazzy, but since everything else in our robotics lab runs on humble, the compatibility problem still remains.

So I am currently trying to see if there is a way to get the rover running on ROS2 humble and Ubuntu 22.04. There are some experimental humble ROS2 packages available, but it appears LeoOS simply skipped Ubuntu 22.04?

What would I need to do to make this possible and is there anything you can provide to pave my way a little?

Thanks so much!