Hi,
To me, TCPROS is an example of open protocol - it provides specification, you can implement its own client and communicate with any ROS1 nodes over it.
DDS is also example of open protocol - it provides specification, you can implement its own client and communicate with any ROS2 nodes over it (examples of such clients are FastDDS, CycloneDDS, …).
Since Zenoh stands for “Zero Overhead Network Protocol” I was looking for any specification how this protocol works but could not find any.
Could someone point me please for such specification or if it does not exist would it mean that it is “closed protocol” and users can communicate with it only through clients which only Zenoh itself provides?
This seems important, as I could see that ROS leaning towards Zenoh to be default RMW in future (especially after watching ROSCon2024 
)
Just to summarize: If Zenoh is open protocol, could someone point me please for its specification
Thank you,