Hello, I wanted to let the ROS community know that we have just released the ROS1 plugin for Zenoh. This provides optimised mapping over Zenoh, e.g. mapping actions on Zenoh’s queryables, and beside allowing you to do R2X over any network, it opens the door of interworking with ROS2 via the Zenoh DDS plugin (more on this later). As I am talking about the DDS plugin, it is worth knowing that this now supports zero copy optimisation. Thus on the same robot when using Cyclone DDS, the data is tra...