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 se nombra ningún archivo fuente, prueba ni punto de entrada de la implementación. Empieza revisando las discusiones enlazadas sobre micro-ROS P2P y brokerless P2P junto con la configuración de Arduino RP2040 y Crazyflie; el trabajo estaría terminado cuando exista un alcance de implementación accionable y confirmado por un maintainer para la comunicación MCU a MCU y con el control en tierra.