You might also consider [CoreDX DDS](
http://www.twinoakscomputing.com/coredx) for your middleware layer. The ROS2 integration code can be found at
https://github.com/tocinc/rmw_coredx
The rmw_coredx integration layer is relatively new, so there hasn't been much optimization done yet; but in general CoreDX DDS does well in resource constrained environments.
--clark
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