OM1 platform supports both ROS2 and Zenoh middleware, but they serve different use cases.

ROS2 brings production-grade maturity and rich feature sets—perfect if you're working with legacy systems, running advanced navigation stacks, or dealing with complex SLAM algorithms. The tradeoff: heavier computational overhead and bandwidth consumption.

Zenoh takes the opposite approach. It's built for speed and efficiency, stripping away unnecessary layers to deliver a lightweight, high-performance middleware stack. Think minimal latency, lower network footprint, and simpler deployment.

So which one? ROS2 if you need battle-tested reliability and sophisticated capabilities. Zenoh if you're optimizing for efficiency and real-time responsiveness. Many teams actually run both—it just depends on your architecture demands.