This should still be possible. External developers have e.g. implemented the rmw interface using OPC UA. Sadly there is no additional documentation on how to write a custom rmw implementation. The "best" way is to read through the API docs of the interface as well as the existing implementations. --- [Visit Topic](https://discourse.ros.org/t/zeromq-middleware-is-it-still-possible/3269/2) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: