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Hello @akampmann ,

I tried this Embedded RTPS component with micro ros for both subscriber and publisher with two ESP32 Devices but problem is My publisher ESP32 publishing the data and My Subscriber ESP32 not receiving it but both are connected to same wifi-router.

Could you please help me here if I am missing anything or any configuration updated related to IP and Ports etc.

I am thinking that this communication will happen through by joining a IGMP Group with LWIP Where i could see that it is joining into group 239.255.0.1 based on udpdriver.c file prints but still there is no communication between them.

I have used same topic name for subscriber and publisher but still no luck.

Kindly please help in this. I am struggling with this issue from many days and also I am not less aware of this LWIP and RTPS components.

Thank you in advance.

Please, can you share the Infineon Aurix example with me?

This is not an issue but question to developer team.

embeddedRTPS uses eProsima Micro-CDR as the third party library. In this repository, the file for Micro-CDR was copied directly and managed as it is, not the submodule feature by git (.gitmodules).
https://github.com/embedded-software-laboratory/embeddedRTPS/tree/master/thirdparty/Micro-CDR

I understand why you did so is that you need to tune some code in Micro-CDR for the embeddedRTPS.
https://github.com/embedded-software-laboratory/embeddedRTPS/commits/master/thirdparty/Micro-CDR

However, many meaningful improvements have been committed to the Micro-CDR original repository. They may be also useful for embeddedRTPS. I think making Micro-CDR a git submodule becomes useful to follow the update about it.

So I have two questions.

Q1: which is the version you copied and located to this repository from the original repository of Micro-CDR?

Q2: Can we consider making Micro-CDR a git submodule and following the latest commits in it?
If you agree with this idea, your action item is just forking Micro-CDR repository to your Organization (embedded-software-laboratory). Then, I will try to tune the forked repository to fit the use of embeddedRTPS.
If no, I want to send PR that includes the change of file name to Micro-CDR/include/ucdr/types/string.h. We are working on mbed support for embeddedRTPS along with mROS2, but we are facing an issue due to this filename. Note that this file is no longer appeared in the latest version of Micro-CDR.
mROS-base#6 (comment)

This repository don't have a LICENSE.
Without a copyright license, nobody is legally allowed to use this code. Please choose a license.

We plan to use the product you have achieved for our R&D activity.
If we may suggest it, the Apache 2.0 license is good choice because this permissive the license that also grant patent rights. And Apache 2.0 prevents you from being able to sue your users over patent infringement claims.

Hi @akampmann

I have following use case i would like to know whether embeddedRTPS support or not ?

Usecase1 : I have built my application by replacing Micro-ROS XRCE DDS with your embeddedRTPS. Micro-ROS XRCE DDS has below functinalties . does embeddedRTPS supports the same ?

                 1. Shared memory functionalities - this will allow Internally a MCU Publish and subscribe on same topic
                 2. Multi thread functionalities   -   this will allow multiple threads/task running with publish and subscribe within mcu 
                 3. Custom Transport Functionality  - this will allow to replace UDP/TCP transport to serial transport etc.

Please clarify on these. I could not see above options enabling config files in embeddedRTPS compared to Micro-ROS XRCE DDS.

If not please let me know if there is any way to have publisher and subscriber within a mcu to establish communication between two different tasks one as publisher and other as subscriber on same topic ?

Please mention if there is any limitations while using embeddedRTPS.

Information from you is really helpful to me. Please reply ASAP. Thank you in advance

We can see that it depends on lightweightIP (lwip) as network stack, but is there any plan to support NuttX as well?
NuttX uses mIP (micro IP) network stack instead of lwip, so that it will not be straight-forward to do that with current software stack.
we would like to bring the question if there is any plan or request for supporting NuttX.

Motivation is basically for more isolation as distributed system w/o agent(server/client architecture) with embedded micro-controllers.

Unexpected memory access error when changing PARTICIPANT_START_ID to 1.

I am getting an error below process.
https://github.com/embedded-software-laboratory/embeddedRTPS/blob/master/src/entities/Domain.cpp#L60

Shouldn't the PARTICIPANT_START_ID be subtracted in this process?
Or do you intend not to subtract?

I think the process should be the same as below.
https://github.com/embedded-software-laboratory/embeddedRTPS/blob/master/src/entities/Domain.cpp#L83

https://github.com/embedded-software-laboratory/embeddedRTPS/blob/master/src/entities/Domain.cpp#L94

sorry if i use it wrong.
I wrote an issue for the first time. sorry if i broke the rules.