Hi Arsh! Great post! I have several questions, first seems like in both methods you are running the XRCE-Client as part of the Ardupilot code. And that you mean that currently the Micro-ROS client does not run on the Ardupilot hardware?
If this is the case seems like if we use Micro-ROS on the companion side we can later switch the ardupilot side to Micro-ROS? would this require changes on the companion side also?
It seems to me that method 2 is cleaner and more user friendly than using method 1, and if we can migrate easily in the future without requiring more changes on the companion side that this could be a better option?