Craziefly P2P communication with peripheral MCUs

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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](https://www.bitcraze.io/products/crazyflie-2-1/) with FreeRTOS connected over UART 1 & 2 to two separate [Arduino rp2040 Connect](https://docs.arduino.cc/hardware/nano-rp2040-connect) dev boards with the micro-ROS Arduino library (as done [here](https://discourse.ros.org/t/micro-ros-meets-the-new-arduino-nano-rp2040-connect/20728)).
- Ideally the Craziefly would also be able to communicate with a "ground control" Linux computer (with the [PA module](https://www.bitcraze.io/products/crazyradio-pa/)).

The rp2040 boards would be running distinct neural networks and publishing the inference results as per my [micro-ROS + Edge Impulse](https://micro.ros.org/docs/tutorials/demos/edgeimpulse/) 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](https://discourse.ros.org/t/microros-without-ros2-agent/13984/3?u=abrown) but as they point out, this makes DDS access impossible
- Use the (more updated) brokerless P2P implementation as per [this](https://answers.ros.org/question/370306/micro-ros-on-esp32-without-external-agent/?answer=370398#post-id-370398) post, in which case I think an agent is not even existant!

Thanks in advance for any guidance :)
Avi

Es wird keine Quelldatei, kein Test und kein Einstiegspunkt für die Implementierung genannt. Beginne damit, die verknüpften Diskussionen zu micro-ROS P2P und brokerless P2P zusammen mit dem Setup für Arduino RP2040 und Crazyflie zu prüfen; abgeschlossen wäre die Aufgabe erst, wenn ein von einem Maintainer bestätigter, umsetzbarer Implementierungsumfang für die MCU-zu-MCU- und Bodensteuerungskommunikation vorliegt.

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