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Porting MAVROS(Native support for ROS2)

In one of my older queries I was provided with some really nice advice as to how to proceed with this project.After taking a look at this PR and the discussion that followed, one important point that was raised was the fact that since Ardupilot has support FrSky,MavLink and further adding support for RTPS/DDS might complicate the setup.An effective workaround suggested was to have an abstraction library that can hide the implementation of the aforementioned protocols. I was confused as to the proper structure that I should follow here(like the target architecture that I could follow).Any ideas/thoughts would be really helpful.Thanks!!

Servers by jDrones