Looks good to me, does this depend on any other PRs?

Partly.

sitl_single_agent_kth.launch.py and sitl_multi_agent_kth.launch.py depend on the kth_space_lab gazebo world, which will be PR.

The regular launch files sitl_single_agent.launch.py and sitl_multi_agent.launch.py will work without that PR, and px4.launch.py is updated to publish /namespace/odom using Gazebo-ROS2 bridge which uses ENU and mimics the mocap in the lab.

I could change it to only be a PR for the Gazebo-ROS2 bridge.

Either is fine, if you make the other PR we can get it merged in and then merge this one. Please tag the other PR here as a comment when you make it :)

Other than that, you mention to use /namespace/odom instead of the FMU ones. Is it optional?

I will do a couple of updates to this PR. I'll let you know when it is ready for review and merge again.

Sounds good!

Okay, @Pedro-Roque, it is ready for review.

• I changed the Gazebo-ROS bridge for odom to be an optional launch argument.
  • The Gazebo-ROS bridge is used in the new launch files: sitl_single_agent_kth.launch.py and sitl_multi_agent_kth.launch.py, where it is publishing to /namespace/odom from Gazebo to mimic the ROS2 odom topic from the mocap in the real lab.
  • The bridge is installed with e.g., sudo apt install ros-humble-ros-gzharmonic-bridge
• sitl_single_agent_kth.launch.py and sitl_multi_agent_kth.launch.py target the KTH Space Lab world.
• Replace deprecated tests_require with extras_require for pytest.

I have not changed any functionality of the original launch scripts.