Exploration & testing ground for Micro-XRCE-DDS — experimenting with pub-sub patterns, multiple message structures, and future bridges to FastDDS.
Exploration project for Micro-XRCE-DDS - a lightweight DDS implementation for IoT and embedded systems. Testing pub-sub patterns, message serialization, and topic routing.
| Branch | Focus | Status |
|---|---|---|
| main | Core Micro-XRCE-DDS implementation with basic pub-sub patterns | Stable |
| dev_fast | Experiments with FastDDS integration and multi-structure bridges | WIP |
Choose main for stable exploration, dev_fast for cutting-edge FastDDS bridge experiments.
- Micro-XRCE-DDS Agent running on port 7400
- eProsima Fast CDR
- C compiler (gcc/clang)
- Make or CMake
# With Make
make build
make run
# Or with CMake
mkdir build && cd build
cmake .. && make
./publisher &
./subscriber &
./subscriber2test_microdds/
├── include/ # Headers
│ └── HelloWorld.h # Message structure
├── src/
│ ├── common/ # Serialization
│ ├── publisher/ # Producer apps
│ └── subscriber/ # Consumer apps
├── Makefile # Build targets
├── CMakeLists.txt # CMake config
└── README.md
- publisher - Generates random JSON messages continuously
- publisher2 - Queue-based variant
- subscriber - Receives and forwards to intermediate topic
- subscriber2 - Receives forwarded messages
Data flow: publisher → HelloWorld topic → subscriber → ForwardedTopic → subscriber2
./MicroXRCEAgent udp4 -p 7400Version: 1.0
Last Updated: March 2026