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https://github.com/eProsima/Micro-XRCE-DDS-Agent

Micro XRCE-DDS Agent respository. Looking for commercial support? Contact [email protected]
https://github.com/eProsima/Micro-XRCE-DDS-Agent

cpp cpp11 dds dds-xrce embedded embedded-systems low-latency low-power middleware ros2

Last synced: about 2 months ago
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Micro XRCE-DDS Agent respository. Looking for commercial support? Contact [email protected]

Host: GitHub
URL: https://github.com/eProsima/Micro-XRCE-DDS-Agent
Owner: eProsima
License: apache-2.0
Created: 2017-12-05T13:41:14.000Z (about 7 years ago)
Default Branch: master
Last Pushed: 2024-10-17T06:30:05.000Z (3 months ago)
Last Synced: 2024-11-13T19:03:29.791Z (2 months ago)
Topics: cpp, cpp11, dds, dds-xrce, embedded, embedded-systems, low-latency, low-power, middleware, ros2
Language: C++
Homepage:
Size: 5.23 MB
Stars: 112
Watchers: 15
Forks: 81
Open Issues: 26
Metadata Files:
- Readme: README.md
- License: LICENSE

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README

        # Micro XRCE-DDS Agent

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*eProsima Micro XRCE-DDS* is a library implementing the [DDS-XRCE protocol](https://www.omg.org/spec/DDS-XRCE/About-DDS-XRCE/) as defined and maintained by the OMG, whose aim is to allow resource constrained devices such as microcontrollers to communicate with the [DDS](https://www.omg.org/spec/DDS/About-DDS/) world as any other DDS actor would do.

It follows a client/server paradigm and is composed by two libraries, the *Micro XRCE-DDS Client* and the *Micro XRCE-DDS Agent*. The *Micro XRCE-DDS Clients* are lightweight entities meant to be compiled on e**X**tremely **R**esource **C**onstrained **E**nvironments, while the *Micro XRCE-DDS Agent* is a broker which bridges the *Clients* with the DDS world.

  


The *Micro XRCE-DDS Agent* receives messages containing request operations from the *Clients* to publish and subscribe to topics in the DDS global dataspace. Remote procedure calls, as defined by the [DDS-RPC standard](https://www.omg.org/spec/DDS-RPC/About-DDS-RPC/), are also supported, allowing to communicate according to a request/reply paradigm.

The *Agent* then processes these requests and sends back a response with the operation status result and with the requested data, in the case of subscribe/reply operations.

*Agents* keep track of the *Clients* by means of a dedicated `ProxyClient` entity that acts on behalf of the latter.

This is made possible by the creation of *DDS Entities* on the *Agent* as a result of *Clients*' operations, such as *Participants*, *Topics*, *Publishers*, and *Subscribers*, which can interact with the DDS global dataspace.

  


The communication between a *Micro XRCE-DDS Client* and a *Micro XRCE-DDS Agent* is achieved by means of several kinds of built-in transports: **UDPv4**, **UDPv6**, **TCPv4**, **TCPv6** and **Serial** communication. In addition, there is the possibility for the user to generate its own **Custom** transport.

An *Agent* using any of these built-in transports can be launched by means of the standalone executable generated when building the project, which comes with a built-in CLI tool to select among the transports listed above.

This built-in *Agent* can also be installed and launched using the provided [Snap package](https://snapcraft.io/micro-xrce-dds-agent) or the provided [Docker image](https://hub.docker.com/r/eprosima/micro-xrce-dds-agent/).

## Commercial support

Looking for commercial support? Write us to [email protected]

Find more about us at [eProsima’s webpage](https://eprosima.com/).

## Documentation

You can access the *eProsima Micro XRCE-DDS* user documentation online, which is hosted on Read the Docs.

* [Start Page](http://micro-xrce-dds.readthedocs.io)

* [Installation manual](http://micro-xrce-dds.readthedocs.io/en/latest/installation.html)

* [User manual](http://micro-xrce-dds.readthedocs.io/en/latest/introduction.html)