Is it feasible to select interfaces (UART/UDP) dynamically at runtime during the initialization phase?

[xjbwd]

• Hardware description: ESP32-S3
• RTOS: FreeRTOS
• Installation type: micro_ros_espidf_component
• Version or commit hash: iron

Hi

I want to release a single binary file for different products and then select the communication interface through different configuration parameters (stored in Flash).

However, it seems that macro definitions like RMW_UXRCE_TRANSPORT_UDP or RMW_UXRCE_TRANSPORT_CUSTOM are used in many places, which are determined at compile time.

Can I treat UDP as a custom transport and then handle it by rmw_uros_set_custom_transport?

Thanks.