ctu-mrs/mrs_uav_core ? reverse-engineered prompt

Build me the core of a ROS 2 based UAV system that ties together everything needed for autonomous flight. I want it to handle hardware abstraction, state estimation, feedback control, reference and trajectory generation, flight management, takeoff and landing, plus plugin support for controllers, trackers, estimators, and hardware APIs.

Please also include the shared MRS libraries, ROS messages, and a simple multirotor simulator setup so the whole system feels complete. Make it easy to install as part of the larger UAV system, and keep the structure clean so the different pieces can work together without a lot of manual wiring.

If you need to check current ROS 2 docs or best practices while setting it up, go ahead and do that. I’d also like a short README update that explains what the core does and how someone would use it in the bigger system.