Is it possible to run ROS2 via wireguard

edit

I got it working and prepared an example on github

Using Eclipse Cyclone DDS, but one has to set some variables

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=file:///$(pwd)/cyclonedds.xml

and the cyclonedds.xml looks like:

<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
    <Domain id="any">
        <General>
            <Interfaces>
                <NetworkInterface name="wg0"/>
            </Interfaces>
        </General>
        <Discovery>
            <Peers>
            <Peer address="192.168.33.80"/>
            <Peer address="192.168.33.51"/>
            </Peers>
            <ParticipantIndex>auto</ParticipantIndex>
        </Discovery>
    </Domain>
</CycloneDDS>