An exploratory study: UAVCAN as a middleware for ROS

[pavel.kirienko]

An interesting case study — adding email-based ROS middleware (RMW):

ROS 2 Over Email: rmw_email, an Actual Working RMW Implementation

Here’s something like a call for proposals for an alternative, non-DDS-based RMW, where someone has brought up Cyphal already; the list of non-DDS-based RMW implementations provided in the post is interesting to look at:

Investigation into alternative middleware solutions

By looking at the source code of the existing non-DDS RMW, I see that the effort required is actually lower than I anticipated.