Greetings,
I would suggest getting in touch with the folks at eProsima (such as @Jaime_Martin_Losa) , who are working on a [free implementation of DDS-XRCE](
http://www.eprosima.com/index.php/products-all/r-d-projects/eprosima-nano-rtps).
I think the XRCE approach has a better long-term path than trying to cram a "full" RTPS implementation onto microcontrollers. For example, XRCE defines much smaller headers than "classic" RTPS, with structures that are also simpler/faster to parse. The whole thing is designed with small systems in mind.
Cheers,
Morgan
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