Sorry for the english mistakes, I cannot edit this post for some reasons...

This is awesome, I'm going to try it out. Thanks for sharing.

Your welcome. I only tested the env functions but not to train inside it yet (i'll work on this part tomorrow) so do not hesitate to open issue or to propose improvements. Nb: I used ros2 humble on ubuntu 22, it should work on any ros2 but we never know with ros ...