Totally agree, Zenoh is a breath of fresh air. Being able to interoperate with a ROS system without having to hook into the whole build system is huge. I can im

Totally agree, Zenoh is a breath of fresh air. Being able to interoperate with a ROS system without having to hook into the whole build system is huge. I can imagine a future where we have "established" ros2 packages like nav2, moveit, ros2_control etc using ROS's DDS abstractions, launch system and whatnot - while other parts of the system are written in simple Python/C++/Rust and just interact via DDS. That way we can slowly figure out more ergonomic ways of build/install/package/run nodes without sacrificing the really useful software that exists in the ROS2 ecosystem.