Do you have any plans for better L2 transport options in ROS v7 ?
EtherIP - tunnelling Ethernet frames across IP46 networks using RFC 3378 EtherIP encapsulation
NvGRE - virtual overlay Ethernet networks on top of an IPv4 or IPv6 underlay network as per RFC 7367
EoGRE - ethernet traffic is encapsulated using Transparent Ethernet (0x6558) as the protocol identifier in the GRE header, as per RFC 1701.
At the moment L2 transport with multi vendor devices is incompatible.