Only a little crazy - you'd have to use ros1msg or write a ROS2 message plugin. And then link together basis+Gazebo or write a bridge (bridges aren't too hard -

Only a little crazy - you'd have to use ros1msg or write a ROS2 message plugin. And then link together basis+Gazebo or write a bridge (bridges aren't too hard - see https://github.com/basis-robotics/basis/blob/main/cpp/plugins/bridges/foxglove/src/foxglove_bridge.cpp https://github.com/basis-robotics/basis/blob/main/cpp/plugin...).