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1. rmw_unix_socket_cpp rmw_unix_socket_cpp Public

   A localhost-only ROS 2 RMW — AF_UNIX sockets + lock-free shared-memory discovery, no DDS, no daemon, no broker. Built to scale.

   C++ 9

2. ros2_rmw_benchmark ros2_rmw_benchmark Public

   Single-host scaling benchmark for ROS 2 RMW implementations: rmw_unix_socket_cpp vs Cyclone DDS, Fast DDS, Zenoh, 1-200 nodes.

   Python 3