Running uROS on the MCU without the Agent running on a PC

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Hey @pablogs9!
@CLansdaleBEC and I were talking about what it looks like for the MCU to run its respective nodes without the Agent running.

I could not quite recall if you had previously mentioned that it was a known limitation the MCU needed to communicate to the agent and then back down.

For instance:
Node A on MCU publishes message "Hello" -> Agent on PC -> Node B on MCU subscribes to topic and receives message "Hello"

Rather than
Node A publishes message -> Node B subscribes to topic and receives message.

I hope my question makes sense, but for our use case we are utilising the MCU as a safety critical system (meaning it handles some logic to ensure that in the fail case of it being unable to communicate with our PC, we publish commands to the rest of the MCU nodes so they can handle their respective parts).

该 issue 未指明任何文件、测试或入口点。首先阅读包含 24 条评论的讨论以及 micro-ROS Agent 的架构，以确定是否支持不使用 Agent 的 MCU-to-MCU 通信，还是需要新的设计。如果需要工作，则应以一项已记录的决策和明确的实现范围作为完成标准。

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