Is it feasible to select interfaces (UART/UDP) dynamically at runtime during the initialization phase?

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- Hardware description: ESP32-S3
- RTOS: FreeRTOS
- Installation type: micro_ros_espidf_component
- Version or commit hash: iron

Hi

I want to release a single binary file for different products and then select the communication interface through different configuration parameters (stored in Flash).

However, it seems that macro definitions like **RMW_UXRCE_TRANSPORT_UDP** or **RMW_UXRCE_TRANSPORT_CUSTOM** are used in many places, which are determined at compile time.

Can I treat UDP as a custom transport and then handle it by **rmw_uros_set_custom_transport**?

Thanks.

Start by tracing the initialization path in the micro_ros_espidf_component and the uses of RMW_UXRCE_TRANSPORT_UDP and RMW_UXRCE_TRANSPORT_CUSTOM. Compare the runtime configuration goal with rmw_uros_set_custom_transport and the Flash-stored parameters. Done means establishing whether UART/UDP selection can be made at initialization time and identifying the compile-time constraints.

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