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Morgan Quigley edited this page Aug 25, 2015
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FreeRTPS wants 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.
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 ROS2+FreeRTPS on standalone firmware images is currently not working (though this is being actively pursued). 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.