A nominal 100 Hz timer doesn’t prove deterministic end-to-end delivery, especially over Wi-Fi. Measure jitter, dropped messages and Agent outages on your actual hardware. RoboTech Journal’s ESP32-S3/STM32 example is illustrative and untested; the guide explains the reference setup and caveats: micro-ROS on ESP32 and STM32: Telemetry Guide | RoboTechJournal
What measurements do you use to validate the full path from MCU to ROS 2 host?