Greetings, I would suggest getting in touch with the folks at eProsima (such as @Jaime_Martin_Losa) , who are working on a [free implementation of DDS-XRCE](http://www.eprosima.com/index.php/products-all/r-d-projects/eprosima-nano-rtps). I think the XRCE approach has a better long-term path than trying to cram a "full" RTPS implementation onto microcontrollers. For example, XRCE defines much smaller headers than "classic" RTPS, with structures that are also simpler/faster to parse. The whole thing is designed with small systems in mind. Cheers, Morgan --- [Visit Topic](https://discourse.ros.org/t/oss-dds-implementation-for-embedded-systems/2748/2) 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: