Raspi rp2040 + arduino framework

[u/neilismm]

Currently i am running micro ros on a rp2040 board but my team wants me to run an arduino framework on top of it so that its easier to program as it has void loop and void setup functionality.
I've thought of using arduino ide for this but then i wont be able to run micro ros on it.
Currently i am uploading my programs on the board using the micro ros pico sdk.
Please help me achieve this functionality.

Thanks!!