@Silvia, @lmayencourt, We have created and implementation of the rmw layer using Micro XRCE-DDS, a middleware specific for microcontrollers. Regarding the cross-compiling topic here I think you may want to check how we cross-compile part of the ROS 2 stack into an STM32, using an RTOS like NuttX. https://discourse.ros.org/t/rmw-microxrcedds-implementation/6727 The RTOS and cross-compilation interesting parts are in this repository (Following NuttX way): https://github.com/microROS/apps/tree/feature/microROS_stm32-e407 It is a WIP project so any feedback, idea or question will be helpful. --- [Visit Topic](https://discourse.ros.org/t/ros2-cross-compilation/6834/7) 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: