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+title: embeddedRTPS the new experimental middleware for micro-ROS
+author: Maria Merlan
+---
+Alexandru Kampmann currently works at the Software for Embedded Systems Research Group, RWTH Aachen University [research profile](https://www.researchgate.net/profile/Alexandru-Kampmann-2), and he is the main contributor of [embeddedRTPS](https://github.com/embedded-software-laboratory/embeddedRTPS)
+
+Middleware implementations such as embeddedRTPS, bring the possibility of using RTPS communication layers on mid to high range MCU with networking capabilities.
+
+Thanks to the layer to layer compatibility of micro-ROS with the ROS 2 architecture, testing those new middlewares is just a matter of writing a new RMW implementation. As well as making some porting adjustments due to the embedded nature of micro-ROS.
+
+
+From the eProsima’s micro-ROS team we want to provide the same features to the official ROS 2 embedded solution.
+
+So, we have created a basic [rmw_embeddedrtps for micro-ROS](https://github.com/micro-ROS/rmw_embeddedrtps), that, although it is not complete, allows the basic functionality of publishing, subscribing and using ROS 2 services. All of this using the well-known micro-ROS C99 API: rclc.
+
+**micro-ROS can be compiled either with Micro XRCE-DDS for low-mid MCUs or with embeddedRTPS for larger devices that are used in critical applications. So, the developer can easily choose the preferred middleware for any application.**
+
+Get more information [here](https://discourse.ros.org/t/embeddedrtps-the-new-experimental-middleware-for-micro-ros/22741?u=mamerlan)
+
+All detail of eRTPS find it [here](https://www.youtube.com/watch?v=AHs_Ysi6IGw)