Bridging the DDS traffic over a constrained connectivity (in throughput and/or number of message per second) might require to perform downsampling of some periodic DDS publications.
A new option for this purpose have been introduced in the new IAC2 branch
of the zenoh bridge for DDS: --periodic-topics <topics_regex>=<period_in_ms>
Assuming you need to bridge the following topics over UDP, and want to ensure a minimal period between each re-publication (period values here are just examples and might not be relevant):