Delay Tolerant Networking Interface for Robotics Systems(NPO-53720-1)

Develop a gateway module to enable communication between isolated ROS2 networks through a DTN using the ION framework. Ensure transparent interoperability (ROS2 nodes should exchange data without any modification to their code). Design an autonomous discovery mechanism allowing gateways to detect each other and establish communication automatically. Guarantee reliable data delivery despite network disruptions, latency, or intermittent connectivity. Provide a modular, reusable C library easily integrable into other systems.