Rusty! Eclipse Zenoh router and ROS 2 zenoh-dds-plugin written in rust have been released. This gives ROS 2 scalable fault tolerant discovery; bridging for wireless (WiFi, LTE, 5G LoRa, satellite), WAN, cloud; microcontroller support, and is interoperable with all ROS 2 Tier 1 ROS middleware DDS implementations.
https://github.com/eclipse-zenoh/zenoh
https://github.com/eclipse-zenoh/zenoh-plugin-dds
