Communicates micro-controllers with the DDS world
eProsima Micro XRCE-DDS is an open source middleware product that implements the OMG (Object Management Group) wire protocol for eXtremely Resource Constrained Environments (DDS-XRCE).
The aim of the DDS-XRCE standard 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.
eProsima Micro XRCE-DDS is the default middleware of micro-ROS, the official extension of ROS 2 (The Robot Operating System) for microcontrollers (MCUs).
The Micro XRCE-DDS Docker image is now available to download here.
ADVANTAGES
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- 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
- Custom transport API: Transport can be customized according to chipset requirements to fit all use cases - Built-in support for serial transports: TCP, UDP over Ethernet, Wi-Fi, 6LoWPAN, and Bluetooth
- Portable to all low-mid range MCUs, to any RTOS and Bare metal - Micro XRCE-DDS Client supports Windows, Linux, and NuttX or FreeRTOS as embedded RTOS - Micro XRCE-DDS Agent supports Windows and Linux platform
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ARCHITECTURE
Micro XRCE-DDS is composed by two main elements:
- Micro XRCE-DDS Agent: a CPP 11 out-of-the-box application which implements the XRCE Agent functionality.
- Micro XRCE-DDS Client: a C99 library which implements the XRCE Client-side functionality.
Micro XRCE-DDS uses two additional components: Micro CDR, a de/serialization engine used in the Client library. And Micro XRCE-DDS Gen, a code generator tool creating Micro CDR de/serialization functions and Client apps examples from IDL sources.
APPLICATION
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.
AVAILABLE DOCUMENTATION
| Release Notes | Videos | Manuals | White Papers |
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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)
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