The ROS community has selected Eclipse Zenoh as an alternative middleware to DDS, marking a significant milestone for the project.
The ROS 2 Alternative Middleware Report stated that Zenoh best met the requirements of an alternative middleware, and was also the most recommended alternative by users.
The report also stated that Zenoh can be viewed as a modern version of the TCPROS implementation, and meets most of the ROS 2 requirements.
The Zenoh protocol provides a stack that unifies data in motion, data in use, and data at rest. It carefully blends the proven publish/subscribe paradigm with geo-distributed storage, queries, and computations. Zenoh is designed to minimize network overhead and can support extremely constrained devices while ensuring low latency and high throughput.
The full report can be found on discourse.ros.org.