FreeRTPS seeks to be a free, portable, minimalist RTPS implementation. We hope that it will provide another option for deeply-embedded ROS2 applications where RAM/ROM size is a critical factor.WARNING ACHTUNG ATTENTION ADVERTENCIA
This code is extremely experimental. It is an abomination. Approximately everything is expected to change rapidly as features are added and cleaned up.WARNING ACHTUNG ATTENTION ADVERTENCIA
At time of writing, FreeRTPS can be used either standalone or linked against the Linux port of ROS2, using the ROS Middleware (rmw) abstraction layer. This abstraction layer is partially implemented by the rmw_freertps package. However, using rmw_freertps on standalone firmware images is currently not working (though this is being actively pursued). Fortunately, you don't need all of rmw in order to communicate with ROS nodes; you simply need to be able to send and receive RTPS messages.
For standalone firmware, FreeRTPS can be used "standalone" (i.e., without the ROS2 abstraction layers) and can generate images for the STM32F4 and STM32F7 "discovery" evaluation boards.