Hi! Total beginner here, I am about to start my first ROS 2 project in order to bring a small robot into the world of ROS (currently controlled with a custom python lib and web-sockets). My goal would be port the robot “components” (by that i mean sensors, motor, and such) into the publisher/subscriber thing with packages (i think?) and have both a virtual simulation via Gazebo and real control over the robot. I did look at bit into the wiki article, but it still feel quite abstract for me, on how to proceed. One important point of the project is that the robot have plug-able extensions sensors, which i have really not sure how to approach.
Lastly (and mostly why i am writing this message), I am using NixOS, and it seems that there is some effort to bring Gazebo to nix. Is this still the on-going, and it that suitable for my project and do i need other software / tools? I am also proficient in nix, so I could see myself helping the way to nixpkgs if needed!