Hi @braineniac. Currently, it works with ROS 2 as it relays on DDS for the communications. Porting to ROS1 will need a different Agent implementation, we are working on changes on micro XRCE-DDS side in that direction. We will make that public soon. micro XRCE-DDS is the underlying middleware implementation, to clarify. > All the official documentations point to the old repos from 2016ish times and were abandoned. I am not sure which repositories you refer here. Can you point me to them? --- [Visit Topic](https://discourse.ros.org/t/rmw-microxrcedds-implementation/6727/16) 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: