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Follow up #4 (comment) demonstrate that python and C++ (using shapeshifter, possibly ros_msg_parser) message defintions can be had even if the topic type is completely unknown- this must work for plotjuggler to work but make a simple example anyway.
Answer question of where that type is embedded in a ros system- surely every message published doesn't have a copy?
Then make a zenoh demo that demonstrates the same thing, make sure the publisher can publish anything without knowing the type at all- or if extra information is needed make sure it is provided to zenoh (think this is already happening, just point out where here).
Make a custom message, only use it in a private catkin_ws and publish it out using simple python node.
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