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

Non viene indicato alcun file sorgente, test o punto di ingresso dell’implementazione. Inizia esaminando le discussioni collegate su micro-ROS P2P e brokerless P2P insieme alla configurazione di Arduino RP2040 e Crazyflie; il lavoro sarebbe completato quando sarà disponibile un ambito di implementazione attuabile e confermato da un maintainer per la comunicazione da MCU a MCU e con il controllo da terra.