Hello @PHLF, Yes it is possible, my project is made to easily switch the RTOS and the protocol used. The problem is that I have no time anymore to make this kind of heavy development. I will try to help anyone that wants to add DDS-XRCE, but I can't do it myself alone. Cheers --- [Visit Topic](https://discourse.ros.org/t/ros2-on-microcontrollers-with-riot/1293/25) 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: