Hi @gbiggs. The correspondence of the libraries with existing ones is: `microROS/rmw-microxrcedds` <=> `ros2/rmw_fastrtps` `microROS/rosidl_typesupport_microxrcedds` <=> `ros2/rosidl_typesupport_fastrtps` `microROS/micro-ROS-demos` <=> `ros2/demos` Not really sure about this last one. But, It is just a package with some dummy samples and different likewise "hello world" code. `microROS/micro-ROS-Agent` does not have equivalent or similar in ROS 2. Regarding RCLC. This is just a fork with small modifications. We have some issues with this package while using our cross-compiling toolchain and building on windows. The intention of this fork, besides enabling the compilation, is to expand its implementation to include more of the ROS 2 concepts, thinking on services or timers. However, this rclc expansion could be stopped, as a few days ago I found that RCLC is listed on Crystal roadmap, https://index.ros.org/doc/ros2/Roadmap/, so ideally we will embrace that future RCLC. Anybody knows something about that RCLC on the roadmap?. Hopefully, this answers your questions. --- [Visit Topic](https://discourse.ros.org/t/rmw-microxrcedds-implementation/6727/3) 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: