You might also consider [CoreDX DDS](http://www.twinoakscomputing.com/coredx) for your middleware layer. The ROS2 integration code can be found at https://github.com/tocinc/rmw_coredx The rmw_coredx integration layer is relatively new, so there hasn't been much optimization done yet; but in general CoreDX DDS does well in resource constrained environments. --clark --- [Visit Topic](https://discourse.ros.org/t/fast-rtps-memory-usage-please-help/1739/14) 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: