Biggest change was the conversion of CvImage to sensor_msgs::msg::Image -- the API I was using expects a unique_ptr, not a shared_ptr. I found a different method.
I ran through all of the launch files (except tello_gazebo/vlam_launch.py), flew a drone, and ran the simulation -- everything appears to work.
Fairly small changes.
Biggest change was the conversion of CvImage to sensor_msgs::msg::Image -- the API I was using expects a unique_ptr, not a shared_ptr. I found a different method.
I ran through all of the launch files (except tello_gazebo/vlam_launch.py), flew a drone, and ran the simulation -- everything appears to work.