Hi @vmayoral, Thanks for your answer. After reviewing the [NuttX-based repository](https://github.com/ros2/ros2_embedded_nuttx), I have found that you were implementing a [very light rcl interface](https://github.com/ros2/ros2_embedded_nuttx/blob/master/rcl/rcl.h) compared to the ["normal" one](https://github.com/ros2/rcl/tree/master/rcl/include/rcl). The interfaces are even not compatible. Is that a choice ? Or is it an early proof of concept interface that will tend to look like the "normal" interface ? Or am I completely wrong and this is not the code you are using ? -- [Visit Topic](https://discourse.ros.org/t/ros2-on-microcontrollers-with-riot/1293/3) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: