micro_ros_agent package from micro-ROS-Agent repo

micro_ros_agent microxrcedds_agent_cmake_module

Package Summary

Tags No category tags.
Version 0.0.1
License Apache License 2.0
Build type AMENT_CMAKE

Repository Summary

Checkout URI https://github.com/micro-ROS/micro-ROS-Agent.git
VCS Type git
VCS Version v0.0.1
Last Updated 2019-04-24
CI status No Continuous Integration
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

DDS-XCRE agent implementation

Additional Links

No additional links.


  • Borja Outerelo


No additional authors.

Micro ROS Agent


This repository contains the Micro-ROS Agent package. Micro-ROS Agent is a ROS 2 node that wraps the Micro XRCE-DDS Agent. For further information about Micro XRCE-DDS Agent click here This package is a part of the Micro-ROS project stack. For more information about Micro-ROS project click here.

The node acts as a server between DDS Network and Micro-ROS nodes inside MCU. It receives and send messages from Micro-ROS nodes, and keep track of the Micro-ROS nodes exposing them to the ROS 2 network. The node interacts with DDS Global Data Space on behalf of the Micro-ROS nodes.

Package features

XML generation

During the build process, the package looks for all ROS 2 messages to generate an initial list of XML profiles. These profiles can are referenced in the Agent-Client communication to avoid sending the full XML content. This reference mechanism can be switched on and off from the Micro XRCE-DDS middleware layer.

Agent-Client communication mechanism

Communication between the Micro-ROS Agent and the Micro-ROS nodes supports two types of transport:

  • UDP.
  • SerialPort.

All available configurations are supported directly by the Micro XRCE-DDS agent. For further information on how to configure the agent click here.


Changelog for package micro-ros_agent

0.0.1 (2019-04-24) -----------------* Initial release

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Dependant Packages

No known dependants.

Launch files

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No message files found.


No service files found


No plugins found.

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