Zenoh Bridge for ROS 2 over DDS

Bridges all ROS 2 communications using DDS over Zenoh. A typical usage
is to run one bridge on a robot and one bridge on a remote host, connecting
them via TCP without any DDS traffic crossing network boundaries.

The bridge daemon is installed disabled. Enable and start it with:

sudo snap start --enable zenoh-bridge-ros2dds.bridge

To stop and disable it again:

sudo snap stop --disable zenoh-bridge-ros2dds.bridge

To run an ad-hoc bridge instance without the daemon:

zenoh-bridge-ros2dds [OPTIONS]

Configuration is auto-discovered on startup.
Place the configuration file in one of these locations:

~/snap/zenoh-bridge-ros2dds/common/ (ad-hoc app only; takes precedence)
/var/snap/zenoh-bridge-ros2dds/common/ (daemon and ad-hoc app)

Pass -c <file> explicitly to skip auto-discovery.

A reference configuration is available in the upstream repository: https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds/blob/main/DEFAULT_CONFIG.json5