Hey Kei,
Glad to see other people are interested in this. I've been looking at this myself in my free time. I think there is a bigger opportunity here beyond just support for Arduino to provide a ROS client library to allow any microcontroller application to connect with ROS using DDS-XRCE.
I've got an initial draft of the interfaces already defined for a ROS Client Library for MicroControllers (rcluc) that has its own rmw abstraction layer to allow the DDS-XRCE implementation to be interchangeable and focuses on having no dynamic allocation. I'd love if we could work together to get some of the ideas from that incorporated.
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