Alejandro Hernández Cordero

> Probably some of the URDF things I pointed out in the other PR. A 5m lidar is completely insufficient to be localizing in a warehouse of that size. >...

> Figure out the reason and/or run each of these launch files to verify they work? > > This PR I'll broadly just give a once over and merge as...

humm the CI failures look odd, I can see two tests failing in `nav2_gz_simple_commander.test.test_copyright` but this package was removed, same happens with `nav2_gz_simple_commander.test.test_flake8`. should I need to fix linters that...

* Linux [](http://ci.ros2.org/job/ci_linux/21464/) * Linux-aarch64 [](http://ci.ros2.org/job/ci_linux-aarch64/15750/) * Linux-rhel [](http://ci.ros2.org/job/ci_linux-rhel/961/) * Windows [](http://ci.ros2.org/job/ci_windows/22181/)

* Linux [](http://ci.ros2.org/job/ci_linux/21536/) * Linux-aarch64 [](http://ci.ros2.org/job/ci_linux-aarch64/15820/) * Linux-rhel [](http://ci.ros2.org/job/ci_linux-rhel/1031/) * Windows [](http://ci.ros2.org/job/ci_windows/22253/)

@christophfroehlich is this ready for review ?

Thank you for the contribution @Narukara, related PR is merged.

* Linux [](http://ci.ros2.org/job/ci_linux/21059/) * Linux-aarch64 [](http://ci.ros2.org/job/ci_linux-aarch64/15362/) * Windows [](http://ci.ros2.org/job/ci_windows/21775/)

Let's see if we can find a better solution instead of duplicate the class in `rclcy` and `rosbag2_py`

@MichaelOrlov, no, it's not a blocker