Transports and Data Links
micro-ROS uses the resource-optimized DDS for Extremely Resource Constrained Environments (DDS-XRCE) standard, implemented by eProsima’s Micro-XRCE-DDS.
It supports are variety of data link and transport protocols. However, the support depends on the underlying RTOS, as specified in the following table.
| Serial UART | Serial USB | UDP over Ethernet | UDP over IEEE 802.11 | 6LoWPAN | Bluetooth | |
|---|---|---|---|---|---|---|
| FreeRTOS | ✓ | WIP | ✓ | ✓ | ||
| NuttX | ✓ | ✓ | ✓ | ✓ | ✓ | |
| Zephyr | ✓ | ✓ | WIP | WIP |