Non-DDS-Implementations
Non-Data-Distribution-Service (non-DDS) implementations provide alternative middleware options for ROS communication when a non-DDS vendor better suits your system requirements. This article links to supported non-DDS guidance and explains how installed RMW vendors can be selected at runtime.
Working with Zenoh explains how to utilize Zenoh.
If you would like to use one of the other vendors you will need to install their software separately before building. The ROS 2 build will automatically build support for vendors that have been installed and sourced correctly.
Once you’ve installed a new RMW vendor, you can change the vendor used at runtime: Working with Multiple RMW Implementations.