XRCE Exploration

Exploration & testing ground for Micro-XRCE-DDS — experimenting with pub-sub patterns, multiple message structures, and future bridges to FastDDS.

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Exploration project for Micro-XRCE-DDS - a lightweight DDS implementation for IoT and embedded systems. Testing pub-sub patterns, message serialization, and topic routing.

Branches

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.

Quick Start

Prerequisites

• Micro-XRCE-DDS Agent running on port 7400
• eProsima Fast CDR
• C compiler (gcc/clang)
• Make or CMake

Build & Run

# With Make
make build
make run

# Or with CMake
mkdir build && cd build
cmake .. && make
./publisher &
./subscriber &
./subscriber2

📁 Project Structure

test_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

📊 Architecture

• 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

🔧 Start Agent

./MicroXRCEAgent udp4 -p 7400

📚 Links

• Micro-XRCE-DDS Docs
• Fast CDR
• DDS Standard

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Version: 1.0
Last Updated: March 2026