Summary

Proposes 2 improvements for the ROS2 bridge:

• The current mode for the ROS2 bridge Rx channel is "FIFO". It can be an issue when Copper task is slower than the ROS topic, in that case the Zenoh thread can get blocked because the channel is not being emptied fast enough. This PR brings in "Ring" mode where the created Zenoh channel has a buffer where oldest messages get dropped when the channel is full. Useful when Copper task is slower than the ROS topic and we want to consume the latest message.
  Follows comments from Zenoh here:
  https://github.com/eclipse-zenoh/zenoh/blob/main/zenoh/src/api/handlers/fifo.rs#L30

• Brings in serde_bytes Serialization/Deserialization for Vec. I measured improvement on a ROS2 bridge subscribing to an 640 x 480 image, having a 40 ms latency without serde_bytes, to 3 ms with it.

Related issues

• Closes #

Changes

Testing

• just fmt
• just lint
• just test
• optional full just std-ci (if std/runtime paths are impacted)
• optional full just nostd-ci (if embedded/no_std paths are impacted)
• Other (please specify):

pro-tip: just with no parameters in the root defaults to just fmt, just lint, and just test.

Checklist

• I have updated docs or examples where needed
• I have added or updated tests where needed
• I have considered platform impact (Linux/macOS/Windows/embedded)
• I have considered config/logging changes (if applicable)
• This change is not a breaking change (or I documented it below)

Breaking changes (if any)

None, Fifo stays the default for the bridge

Additional context