I should have also mentioned that my appetite also includes not being locked into one vendor's software stack. For instance, there are nice offerings from Epros

I should have also mentioned that my appetite also includes not being locked into one vendor's software stack. For instance, there are nice offerings from Eprosima [1] and Twin Oaks [2] that do this, but they seem to be "outstanding in their field" and would be difficult to replace if a need to do so developed. In the case of Eprosima's offerings, they also make some architectural assumptions that are difficult to maintain for some applications (such as having a paired Linux device with each embedded device acting as a translator). But yes - there absolutely are solutions already. I guess I was just lamenting that they weren't really functionally accessible for all applications. [1] https://micro-xrce-dds.docs.eprosima.com/en/latest/ https://micro-xrce-dds.docs.eprosima.com/en/latest/ [2] https://www.twinoakscomputing.com/ https://www.twinoakscomputing.com/