@astralien3000, please find at
https://github.com/microROS/micro-ROS a few bits about the micro-ROS European project I mentioned. The following architecture should help describing our goal:
```
+-------------------------------------------------------------+
| embedded application layer |
+-------------------------------------------------------------+
| micro-ROS client library (urcl) |
e.g.: tf, lifecycle, executors, etc. |
+-------------------------------------------------------------+
| micro-ROS middleware interface (urmw) |
+-------------------+---------------------+-------------------+
| middleware 1 | middleware 2 | middleware 3 |
| (e.g. micro-RTPS) | (e.g. mqtt) | |
+-------------------+---------------------+-------------------+
| Real-Time Operating System (RTOS) abstractions |
+------------------+------------------+-----------------------+
| RTOS 1 | RTOS 2 | RTOS 3 |
| (e.g. NuttX) | (e.g. RIOT) | (e.g. Zephyr) |
+------------------+------------------+-----------------------+
| hardware |
+-------------------------------------------------------------+
```
I will start looking at how to integrate (if possible) your work in ours (I'm happy interacting publicly here but let me know if you'd prefer a more private channel).
Regards,
---
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