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:
NEW FEATURES ADDED
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- 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
- 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!
MAIN FEATURES OF EPROSIMA Micro XRCE-DDS:
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
MORE INFORMATION ABOUT MICRO XRCE-DDS:
For any questions please contact
