Hello, Would it be possible to make use of DDS XRCE https://www.omg.org/spec/DDS-XRCE/About-DDS-XRCE/ to stay in line with the DDS stack? Cheers. --- [Visit Topic](https://discourse.ros.org/t/ros2-on-microcontrollers-with-riot/1293/24) or reply to this email to respond.