Craziefly P2P communication with peripheral MCUs

Hi folks! I would appreciate some info regarding the current state of P2P communication between MCUs running micro-ROS nodes, and whether my (theoretical) setup would be achievable:

Setup (theoretical)

• Craziefly 2.1 with FreeRTOS connected over UART 1 & 2 to two separate Arduino rp2040 Connect dev boards with the micro-ROS Arduino library (as done here).
• Ideally the Craziefly would also be able to communicate with a "ground control" Linux computer (with the PA module).

The rp2040 boards would be running distinct neural networks and publishing the inference results as per my micro-ROS + Edge Impulse project.

The reason I'm skeptical this is possible is because as far as I understand my options are to either:

• Use a P2P Agent configuration as mentioned here but as they point out, this makes DDS access impossible
• Use the (more updated) brokerless P2P implementation as per this post, in which case I think an agent is not even existant!

Thanks in advance for any guidance :)
Avi

No source file, test, or implementation entry point is named. Start by reviewing the linked micro-ROS P2P and brokerless P2P discussions alongside the Arduino RP2040 and Crazyflie setup; done would require a maintainer-confirmed, actionable implementation scope for MCU-to-MCU and ground-control communication.