ROS2Arduino support?

Hi I'm hoping to use Arduino on an ESP32 to control a small robot.

The plan is to update this code: GitHub - shirokunet/ros2_esp32bot: Simple ESP32 bot for connecting ROS2

Looking at that I noticed that GitHub - ROBOTIS-GIT/ros2arduino: This library helps the Arduino board communicate with the ROS2 using XRCE-DDS. has not had an update in a while, it may be abandoned?

This would be a shame for me personally as my robot might need a rethink, but it also seems that the wider Arduino community might want to help maintain the software?

Is there anyone here who could help update it to Foxy & a recent version of Micro-XRCE-DDS-Agent