Regardless of who got there first, it’s great to see these different RMW implementations coming into existence! It offers encouragement that the design decision in ROS 2 to develop and adhere to the RMW abstraction layer was a good one. No matter how effective DDS (RTPS) is for some domains, there are going to be applications where other middleware backends are a better fit and now we can accommodate those needs without changing the ROS 2 code on top.
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