XRCE-DDS is an official standard of the OMG, with the support of all OMG members of the DDS WG, but Adlink. You have available our implementation (open source), and also RTI has developed its own implementation, and more are coming. Perhaps @GerardoPardo could want to add something.
Let me answer also @mrbhjv points briefly (Pablo from the Micro-ROS team will write also a detailed response):
1.- Changing the IP address at runtime: Totally possible. I think you tested a non updated version of Micro-ROS.
2.- Broker on a Fixed IP: Again, not necessary, you have a discovery mechanism for the Agent.
3.- QoS: You have all the Fast DDS QoS available.
4.- Both eProsima and RTI implement the XRCE-DDS standard. More to come.
Micro-ROS is a common project between eProsima, Bosch, PIAP, and the FIWARE Foundation, with more than 4M Eur of funding, based on standards, and we have alliances and support for the following platforms:
- WindRiver (VxWorks)
And more are coming. So you are right, Micro-ROS is the way to go, supported already by many important organizations and based in OMG standards, and with a long history (our implementation of XRCE-DDS is now 4 years old).
You have very good documentation and examples of Micro-ROS and XRCE-DDS here:
Please let us know if you need some guidance.
PD: On the contrary, Zenoh is just promoted by one organization, they tried to standardize the protocol at the OMG and they failed, with massive support to XRCE-DDS as a better option (12 votes to 1), with basically no activity since then (5 years ago), no users, no community, lack of docs, and no support.