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Draft: [ARP] Merge of ARP on Main

Federico Lolli requested to merge lyra-gs-dev into main

This merge is thought to make the life of @emilio.corigliano easier on GS, thus of high priority for EuRoC 2024.

Tasks left to do before merging following:

  • merge boardcore and point to main here
  • make sure that the last few commits do not break things (just to make a double check)

Contact either me (@federico.lolli) or @niccolo.caruso in case you need assistance.

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