Integrating ROS 2 RMW DDS with RMW Zenoh

[aionescu-cpr]

Hello, I have a ROS 2 deployment question that I'm hoping I can get some help/advice on. I have a current system that's deployed using ROS 2 configured to use the cyclonedds RMW. I have a new ROS 2 system that I'd like to deploy using the zenoh RMW (as part of ROS 2 Jazzy). I need to be able to exchange data between the two systems (using topics, no services or actions needed at this point), and this is where I'm running into an issue.

I was hoping to be able to use the ros2dds zenoh plugin to run a bridge on my DDS deployment and connect to my zenoh router, however according to this answer it doesn't look like it is supported today.

I found this video from 2023 where it was mentioned that "We will adapt the bridge to allow RMW DDS / RMW Zenoh integration" so I just wanted to ask again if this is still something being considered. If it is not, then is there a recommended approach that allows the integration of RMW DDS/Zenoh deployment?

Thank you.