Hi @Ibrones, you may find @pedro-fuoco’s GSoC blog from last year useful as well: GSoC 2023: GPS-Denied Autonomous Exploration with ROS 2.
The project uses ROS 2 and the DDS library to manage external control, but does require you to migrate to ROS 2 and setup your companion computer to run ROS 2 Humble instead of ROS Noetic. If you have Gazebo installed you can run a simulation to test your set up as well.
Happy to help with any questions.