That looks good! I actually started with the "hanging shelf" configuration before switching to the rails.
I was really hoping I could figure out a way to mount the shelves with some sort of vertical supports that would simply wedge in between the rungs on my ladder. That would be a super-quick no-bolt installation. But I decided it would be a lot of work to build the supports and bend them to the perfect angle so that they would wedge into the ladder properly. Jeff Scherb posted a picture of a table that attaches to the rear wheel - I was thinking a modified version of those components might work with my ladder.
Hmmm. I think I just found them when I was rummaging around at Home Depot. I spend hours there looking for various gadgets and parts for projects. Sorry I can't remember the details. But you could certainly fabricate bumpers for the shelf supports from just about anything. The important trick is to mount the canopy so that the vertical supports for the shelves have a moderate amount of pressure where they rest against the side panel of the Jeep.