Run Create3 via ROS 2 Create3_Bluetooth Node?

[slowrunner]

I'm still feeling separation anxiety from my failed attempt to find a configuration to successfully run the Create3 with an Oak-D camera and RTABmap. I found a very old youtube with a Pi4 powered TB4 successfully running RTABmap with an Oak-D-Pro camera, but I could not get my Galactic or Humble Create3 to stay alive with the added topic traffic, regardless of the RMW/DDS configuration and override parameters.

Some people have noted that the cyclone and fastdds RMW require memory allocation for all topics regardless of subscription which may have caused the Create3 resources to become overloaded. The great iRobot devs attempted to help me segment and bridge the RMW/DDS, but we were unable to find a working solution.

It came to me that one thing I did not try was coding a "ROS 2 Create3_Bluetooth" node that would run on the Pi4 or Pi5 (in Docker) to bridge the ROS topics to the Create3 using the Create3 Python Web Playground Bluetooth connection. I don't know what sensor publishing latency and rate could be supported, or robot.set_wheel_speeds(,) latency from /cmd_vel could be supported, but this would totally offload all ROS 2 messaging from the Create3.

I'm guessing from the discussions that this approach has not been tried yet, although I also have not seen an abundance of folks with overloaded Create3 either...

Just a thought.