  Recent advancements in Multi-Robot Systems (MRS) and mesh network
technologies pave the way for innovative approaches to explore extreme
environments. The Artemis Accords, a series of international agreements, have
further catalyzed this progress by fostering cooperation in space exploration,
emphasizing the use of cutting-edge technologies. In parallel, the widespread
adoption of the Robot Operating System 2 (ROS 2) by companies across various
sectors underscores its robustness and versatility. This paper evaluates the
performances of available ROS 2 MiddleWare (RMW), such as FastRTPS, CycloneDDS
and Zenoh, over a mesh network with a dynamic topology. The final choice of RMW
is determined by the one that would fit the most the scenario: an exploration
of the extreme extra-terrestrial environment using a MRS. The conducted study
in a real environment highlights Zenoh as a potential solution for future
applications, showing a reduced delay, reachability, and CPU usage while being
competitive on data overhead and RAM usage over a dynamic mesh topology
