Open source solution

eProsima Micro XRCE-DDS is an open source wire protocol that implements the OMG DDS for eXtremly 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 as a result of 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.

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Micro XRCE-DDS is composed by two main elements:

DDS Global-Data-Space


Apart from the ones mentioned above, Micro XRCE-DDS uses two additional components:

  • Micro CDR: a de/serialization engine used in the Client library.
  • Micro XRCE-DDS Gen: a code generator tool creating Micro CDR de/serialization functions and Client apps examples from IDL sources.


  Low Resource Consumption: 

       - Completely dynamic memory free, allocating all the memory at start-up

       - Less than 75 KB of Flash memory and 2.5 KB of RAM. See the Memory Profiling report

  Multi-Transport Support:

       - UDPTCP and a custom Serial transport protocol

       - Transport interface for both Agent and Client which simplifies a transport custom design

  Multi-Platform Integration:

       - Micro XRCE-DDS Client supports WindowsLinux, and NuttX or FreeRTOS as embedded RTOS

       - Micro XRCE-DDS Agent supports Windows and Linux platform

  Free and Open Source: Apache License 2.0

  Personalized Services & Commercial Support available

  Well documented easy to use: See our availabe documentation

  Well suited for: Robotics, IoT, Automotive, Critical applications

Last Release FEATURES:

  • Peer-to-peer communication.
  • Message fragmentation support.
  • Programmable Agent through modern CPP API.
  • FreeRTOS support.
  • Application configuration.



Micro XRCE-DDS is focused on microcontroller applications which require a publisher/subscriber architecture. Some examples of this kind of applications are found in a sensor network, IoT or robotics. 

Some important companies such as Renesas and ROBOTIS are using already Micro XRCE-DDS as their middleware solution. Furthermore, the micro-ROS project, an extension of ROS2 (The Robot Operating System) for microcontrollers, has adopted Micro XRCE-DDS as its middleware layer, easing the adoption of Micro XRCE-DDS by a big community of developers with thousands of robotic and IoT active projects.


For any questions please contact This email address is being protected from spambots. You need JavaScript enabled to view it.

Government Sponsorship.

This product was partially funded by the Spanish Ministry of Energy, Tourism and Digital Agenda, within the National plan of Scientific Research, Development and Technological Innovation 2013-2016. (Project TSI-101000-2016-20)