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You may want to become more familiar with the work the various working groups are doing in ROS 2. In particular the Real-time WG and the Security WG. From your previous questions it appears you may not be using the right keywords in your searches.
For zero-copy in particular: ros2/ros2#785. Note also the link to the design document on the same subject.
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You may want to become more familiar with the work the various working groups are doing in ROS 2. In particular the Real-time WG and the Security WG. From your previous questions it appears you may not be using the right keywords in your searches.
Activities of the WGs are announced and discussed in the ng-ros category on ROS Discourse.
For zero-copy in particular: ros2/ros2#785. Note also the link to the design document on the same subject.
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