Development Plan for Missing RMW implementations

[fujitatomoya]

Description

I do not think this issue, it is more like discussion on development milestone and plans in the future.

According to the source code, rmw_zenoh_cpp still misses a few RMW Interfaces as implementation.

• Network Flow Endpoints
  • rmw_publisher_get_network_flow_endpoints
  • rmw_subscription_get_network_flow_endpoints
• LoanedMessage (required for true zero copy from ROS 2 application)
  • rmw_borrow_loaned_message
  • rmw_return_loaned_message_from_publisher
  • rmw_publish_loaned_message
  • rmw_take_loaned_message
  • rmw_take_loaned_message_with_info
  • rmw_return_loaned_message_from_subscription
• ContentFiltering
  • rmw_subscription_set_content_filter
  • rmw_subscription_get_content_filter

Is there any milestone or development plan to support those interfaces?

[fujitatomoya]

@Yadunund @JEnoch any thoughts?

[Yadunund]

Hi @fujitatomoya, thanks for starting the discussion on these topics.

We’d love to support these! While they aren't on the immediate roadmap yet—and ContentFilters aren't native to Zenoh—the other two features should be mappable to Zenoh concepts. We are looking for community contributors to lead the way and are happy to provide guidance to anyone interested in taking this on!

[ros-discourse]

This issue has been mentioned on Open Robotics Discourse. There might be relevant details there:

https://discourse.openrobotics.org/t/ros-news-for-the-week-of-january-12th-2026/51866/1