Hi @Kei. rmw-microxrcedds depends on Micro XRCE-DDS Client v1.0.1. micro-ROS Agent depends on Micro XRCE-DDS Agent v1.01, so the dependency with FastRTPS 1.7.0 is here, on the agent side. This force you to use FastRTPS 1.7.0 on your ROS 2 workspace where you want the micro-ROS Agent running. You can check that there is an ongoing pull request to upgrade ROS 2 repositories to that version: https://github.com/ros2/rmw_fastrtps/pull/233 >From that you can get Dirk's list of ros2.repos used for testing: https://gist.githubusercontent.com/dirk-thomas/e377d8de1d8d7d41e15e1955a46f96c9/raw/dc498ab63c038df358bd2c0ccfad86dc0e0615cb/ros2.repos Note the following changes in ros2.repos: Fast-RTPS Branch: release/1.7.0 rmw_fastrtps Repo: https://github.com/eProsima/rmw_fastrtps.git Branch : fastrtps-1.7.0 Hopefully, this clarifies a bit on the dependencies. Although, on this repository specific to micro-ROS, there are lists of repositories for agent and client side: https://github.com/microROS/micro-ROS-doc/tree/master/repos If you have any other question, I will be glad to help. --- [Visit Topic](https://discourse.ros.org/t/rmw-microxrcedds-implementation/6727/5) 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: