[ros-users] [Discourse.ros.org] [Next Generation ROS] IPC in ros2

[Víctor Mayoral Vilches]

Hello everyone,

Please, refer to the content below for a peek into a preliminary architecture of the micro-ROS European project that @Jaime_Martin_Losa brought up above (completely inspired in the work the OSRF is doing with ROS 2):
```
+-------------------------------------------------------------+
|               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                            |
+-------------------------------------------------------------+
```

The project started only recently. For those developing XRCE solutions, I believe it's a good moment to start keeping an eye on it (@GerardoPardo, @kydos).

An entry point for the project is available at https://github.com/microROS/micro-ROS.





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