Madrid, December 2021

eProsima has released  Micro XRCE-DDS v2.1.0, the latest version of the default middleware used by micro-ROS

Micro XRCE-DDS is an implementation of the DDS-XRCE standard by the OMG, that allows communicating eXtremely Resource Constrained Environments (XRCEs) with an existing DDS network.

This new version of the Micro XRCE-DDS library will be the default version for the RMW implementation of micro-ROS Galactic.

Below you can find a detailed list of the main advancements accomplished in this new version that will boost the performance of your communications:


  • Micro XRCE-DDS Client v2.1.0

    • New features:
      • Binary entity creation mode
      • Multithread support and shared memory transport 
      • Off-standard 64 kB write limit tweak 
      • Support for CAN/FD
      • Support for RTEMS RTOS 


    Micro XRCE-DDS Agent v2.1.0

    • New features:
      • Client shared memory support 
      • Binary entity creation mode
      • Off-standard 64 kB write limit tweak
      • Multiserial agent functionality 
      • Incoming heartbeats filter 
      • Support for CAN/FD

    Check out the complete list of changes and bug fixes  in Agent, Client and CDR on Micro XRCE-DDS release notes!


    Low Resource Consumption

    • Completely dynamic memory free, allocating all the memory at start-up (Real-Time and Deterministic)
    • Less than 75 KB of Flash memory and 2.5 KB of RAM. See the Memory Profiling report
    • Memory optimization capabilities

    Multi-Transport Support

    • Contrary to other IoT middleware such as MQTT and CoaP which work over only a particular transport layer, XRCE supports multiple transport protocols natively. In particular, the latest version of Micro XRCE-DDS supports UDP, TCP, and a custom Serial transport protocol.
    • eProsima Micro XRCE-DDS has a transport interface for both Agent and Client which simplifies a transport custom design. This gives the user the possibility of easily implementing the port of Micro XRCE-DDS to different platforms and the addition of new transports.

    Multi-Platform Support

    • Portable to all low-mid range MCUs, to any RTOS and Bare metal
    • eProsima Micro XRCE-DDS Agent supports Windows and Linux platforms.

      Well documented & easy to use



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