Micro-XRCE-DDS-Client

1、Introduction

eProsima Micro XRCE-DDS is an open-source wire protocol that implements the OMG DDS for eXtremely Resource Constrained Environment standard (DDS-XRCE). The aim of the DDS-XRCE protocol is to provide access to the DDS Global-Data-Space from resource-constrained devices. This is achieved thanks to a client-server architecture, where low resource devices, called XRCE Clients, are connected to a server, called XRCE Agent, which acts on behalf of its clients in the DDS Global-Data-Space.

This repository is a package for RT-Thread which includes Micro XRCE-DDS Client library and provide the ROS2 topic public/subscribe ability.

Micro-ROS Architecture

1.1 Content Architecture

Name	Description
docs	Document folder
examples	Example folder
inc	Header folder
src	Source folder

1.2 License

Apache license v2.0

1.3 Dependency

RT-Thread 3.0+

2、How to Enable Micro-XRCE_DDS-Client

Enable Micro-XRCE-DDS-Client package in menuconfig at the belowing path:

RT-Thread online packages
    tools packages --->
        [*] Micro-XRCE-DDS-Client

To enable examples, add MICRO_XRCE_DDS_CLIENT_USING_EXAMPLE in rtconfig.h

3、Usage

eProsima Document
Micro-ROS Document
For more documemt, please check doc folder.

4、Notice

This package is only tested on ROS2 Foxy, for other ROS distribution is not tested.

5、Communication

Maintainer：Jiachi