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The following commit(s) were added to refs/heads/master by this push:
new 6284bdc50 system/xrcedds: add eProsima Micro XRCE-DDS
6284bdc50 is described below
commit 6284bdc50e512c619d487977f046349458c5b67c
Author: lljwork2021 <[email protected]>
AuthorDate: Wed Sep 9 18:53:59 2026 +0800
system/xrcedds: add eProsima Micro XRCE-DDS
Add a lightweight Micro XRCE-DDS Client integration with UDP transport
support and a publisher example.
Signed-off-by: lljwork2021 <[email protected]>
---
examples/xrcedds/CMakeLists.txt | 38 +++++
examples/xrcedds/HelloWorld.idl | 5 +
examples/xrcedds/Kconfig | 29 ++++
examples/xrcedds/Make.defs | 25 ++++
examples/xrcedds/Makefile | 33 +++++
examples/xrcedds/hello_world.c | 66 +++++++++
examples/xrcedds/hello_world.h | 58 ++++++++
examples/xrcedds/xrcedds_pub_main.c | 225 +++++++++++++++++++++++++++++
system/xrcedds/.gitignore | 3 +
system/xrcedds/CMakeLists.txt | 88 +++++++++++
system/xrcedds/Kconfig | 50 +++++++
system/xrcedds/Make.defs | 35 +++++
system/xrcedds/Makefile | 106 ++++++++++++++
system/xrcedds/include/ucdr/config.h | 42 ++++++
system/xrcedds/include/uxr/client/config.h | 61 ++++++++
15 files changed, 864 insertions(+)
diff --git a/examples/xrcedds/CMakeLists.txt b/examples/xrcedds/CMakeLists.txt
new file mode 100644
index 000000000..af52894a2
--- /dev/null
+++ b/examples/xrcedds/CMakeLists.txt
@@ -0,0 +1,38 @@
+#
##############################################################################
+# apps/examples/xrcedds/CMakeLists.txt
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
contributor
+# license agreements. See the NOTICE file distributed with this work for
+# additional information regarding copyright ownership. The ASF licenses this
+# file to you under the Apache License, Version 2.0 (the "License"); you may
not
+# use this file except in compliance with the License. You may obtain a copy
of
+# the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations under
+# the License.
+#
+#
##############################################################################
+
+if(CONFIG_EXAMPLES_XRCEDDS_PUB)
+ nuttx_add_application(
+ NAME
+ ${CONFIG_EXAMPLES_XRCEDDS_PUB_PROGNAME}
+ SRCS
+ xrcedds_pub_main.c
+ hello_world.c
+ STACKSIZE
+ ${CONFIG_EXAMPLES_XRCEDDS_PUB_STACKSIZE}
+ PRIORITY
+ ${CONFIG_EXAMPLES_XRCEDDS_PUB_PRIORITY}
+ MODULE
+ ${CONFIG_EXAMPLES_XRCEDDS_PUB}
+ DEPENDS
+ xrcedds)
+endif()
diff --git a/examples/xrcedds/HelloWorld.idl b/examples/xrcedds/HelloWorld.idl
new file mode 100644
index 000000000..842ab81d9
--- /dev/null
+++ b/examples/xrcedds/HelloWorld.idl
@@ -0,0 +1,5 @@
+struct HelloWorld
+{
+ unsigned long index;
+ string message;
+};
diff --git a/examples/xrcedds/Kconfig b/examples/xrcedds/Kconfig
new file mode 100644
index 000000000..3f0117279
--- /dev/null
+++ b/examples/xrcedds/Kconfig
@@ -0,0 +1,29 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+menuconfig EXAMPLES_XRCEDDS_PUB
+ tristate "XRCEDDS publisher demo"
+ default n
+ depends on SYSTEM_XRCEDDS && NET_UDP && NET_IPv4
+ ---help---
+ Build the PublishHelloWorldClient command. It connects to a
+ Micro XRCE-DDS Agent through the built-in UDP transport and
+ publishes HelloWorld samples.
+
+if EXAMPLES_XRCEDDS_PUB
+
+config EXAMPLES_XRCEDDS_PUB_PROGNAME
+ string "Publisher command name"
+ default "PublishHelloWorldClient"
+
+config EXAMPLES_XRCEDDS_PUB_PRIORITY
+ int "Publisher task priority"
+ default 100
+
+config EXAMPLES_XRCEDDS_PUB_STACKSIZE
+ int "Publisher task stack size"
+ default 4096
+
+endif
diff --git a/examples/xrcedds/Make.defs b/examples/xrcedds/Make.defs
new file mode 100644
index 000000000..1c5fbb881
--- /dev/null
+++ b/examples/xrcedds/Make.defs
@@ -0,0 +1,25 @@
+############################################################################
+# apps/examples/xrcedds/Make.defs
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements. See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership. The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License. You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+ifneq ($(CONFIG_EXAMPLES_XRCEDDS_PUB),)
+CONFIGURED_APPS += $(APPDIR)/examples/xrcedds
+endif
diff --git a/examples/xrcedds/Makefile b/examples/xrcedds/Makefile
new file mode 100644
index 000000000..acf1e7a6f
--- /dev/null
+++ b/examples/xrcedds/Makefile
@@ -0,0 +1,33 @@
+############################################################################
+# apps/examples/xrcedds/Makefile
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements. See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership. The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License. You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+include $(APPDIR)/Make.defs
+
+PROGNAME = $(CONFIG_EXAMPLES_XRCEDDS_PUB_PROGNAME)
+PRIORITY = $(CONFIG_EXAMPLES_XRCEDDS_PUB_PRIORITY)
+STACKSIZE = $(CONFIG_EXAMPLES_XRCEDDS_PUB_STACKSIZE)
+MODULE = $(CONFIG_EXAMPLES_XRCEDDS_PUB)
+
+MAINSRC = xrcedds_pub_main.c
+CSRCS += hello_world.c
+
+include $(APPDIR)/Application.mk
diff --git a/examples/xrcedds/hello_world.c b/examples/xrcedds/hello_world.c
new file mode 100644
index 000000000..51e31c4dc
--- /dev/null
+++ b/examples/xrcedds/hello_world.c
@@ -0,0 +1,66 @@
+/****************************************************************************
+ * apps/examples/xrcedds/hello_world.c
+ *
+ * Implements the HelloWorld type described by HelloWorld.idl.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <string.h>
+
+#include <ucdr/microcdr.h>
+
+#include "hello_world.h"
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+bool hello_world_serialize_topic(struct ucdrBuffer *writer,
+ const struct hello_world_s *topic)
+{
+ ucdr_serialize_uint32_t(writer, topic->index);
+ ucdr_serialize_string(writer, topic->message);
+
+ return !writer->error;
+}
+
+bool hello_world_deserialize_topic(struct ucdrBuffer *reader,
+ struct hello_world_s *topic)
+{
+ ucdr_deserialize_uint32_t(reader, &topic->index);
+ ucdr_deserialize_string(reader, topic->message, 255);
+
+ return !reader->error;
+}
+
+uint32_t hello_world_topic_size(const struct hello_world_s *topic,
+ uint32_t size)
+{
+ uint32_t previous_size = size;
+
+ size += ucdr_alignment(size, 4) + 4;
+ size += ucdr_alignment(size, 4) + 4 + strlen(topic->message) + 1;
+
+ return size - previous_size;
+}
diff --git a/examples/xrcedds/hello_world.h b/examples/xrcedds/hello_world.h
new file mode 100644
index 000000000..07cb78b3e
--- /dev/null
+++ b/examples/xrcedds/hello_world.h
@@ -0,0 +1,58 @@
+/****************************************************************************
+ * apps/examples/xrcedds/hello_world.h
+ *
+ * Declares the HelloWorld type described by HelloWorld.idl.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_EXAMPLES_XRCEDDS_HELLO_WORLD_H
+#define __APPS_EXAMPLES_XRCEDDS_HELLO_WORLD_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <stdbool.h>
+#include <stdint.h>
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+struct hello_world_s
+{
+ uint32_t index;
+ char message[255];
+};
+
+struct ucdrBuffer;
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+bool hello_world_serialize_topic(struct ucdrBuffer *writer,
+ const struct hello_world_s *topic);
+bool hello_world_deserialize_topic(struct ucdrBuffer *reader,
+ struct hello_world_s *topic);
+uint32_t hello_world_topic_size(const struct hello_world_s *topic,
+ uint32_t size);
+
+#endif /* __APPS_EXAMPLES_XRCEDDS_HELLO_WORLD_H */
diff --git a/examples/xrcedds/xrcedds_pub_main.c
b/examples/xrcedds/xrcedds_pub_main.c
new file mode 100644
index 000000000..540c753ad
--- /dev/null
+++ b/examples/xrcedds/xrcedds_pub_main.c
@@ -0,0 +1,225 @@
+/****************************************************************************
+ * apps/examples/xrcedds/xrcedds_pub_main.c
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <inttypes.h>
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
+#include <uxr/client/client.h>
+#include <ucdr/microcdr.h>
+
+#include "hello_world.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define STREAM_HISTORY 8
+#define BUFFER_SIZE (UXR_CONFIG_UDP_TRANSPORT_MTU * STREAM_HISTORY)
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * main
+ ****************************************************************************/
+
+int main(int argc, FAR char *argv[])
+{
+ uxrUDPTransport transport;
+ uxrSession session;
+ uxrStreamId reliable_out;
+ uint8_t out_stream_buffer[BUFFER_SIZE];
+ uint8_t in_stream_buffer[BUFFER_SIZE];
+ uxrObjectId participant_id;
+ uxrObjectId topic_id;
+ uxrObjectId publisher_id;
+ uxrObjectId datawriter_id;
+ const char *participant_xml;
+ const char *topic_xml;
+ const char *publisher_xml;
+ const char *datawriter_xml;
+ uint16_t participant_req;
+ uint16_t topic_req;
+ uint16_t publisher_req;
+ uint16_t datawriter_req;
+ uint8_t status[4];
+ uint16_t requests[4];
+ bool connected;
+ uint32_t count;
+ char *ip;
+ char *port;
+ uint32_t max_topics;
+
+ /* Parse the command line. */
+
+ if (argc < 3 || atoi(argv[2]) == 0)
+ {
+ printf("usage: %s ip port [<max_topics>]\n", argv[0]);
+ return 0;
+ }
+
+ ip = argv[1];
+ port = argv[2];
+ max_topics = argc == 4 ? atoi(argv[3]) : UINT32_MAX;
+
+ /* Create the UDP transport. */
+
+ if (!uxr_init_udp_transport(&transport, UXR_IPv4, ip, port))
+ {
+ printf("Error at create transport.\n");
+ return 1;
+ }
+
+ /* Create the session. */
+
+ uxr_init_session(&session, &transport.comm, 0xaaaabbbb);
+ if (!uxr_create_session(&session))
+ {
+ printf("Error at create session.\n");
+ return 1;
+ }
+
+ /* Create the reliable streams. */
+
+ reliable_out = uxr_create_output_reliable_stream(&session,
+ out_stream_buffer,
+ BUFFER_SIZE,
+ STREAM_HISTORY);
+ uxr_create_input_reliable_stream(&session, in_stream_buffer,
+ BUFFER_SIZE, STREAM_HISTORY);
+
+ /* Create the DDS entities. */
+
+ participant_id = uxr_object_id(0x01, UXR_PARTICIPANT_ID);
+ participant_xml = "<dds>"
+ "<participant>"
+ "<rtps>"
+ "<name>default_xrce_participant</name>"
+ "</rtps>"
+ "</participant>"
+ "</dds>";
+ participant_req = uxr_buffer_create_participant_xml(&session, reliable_out,
+ participant_id, 0,
+ participant_xml,
+ UXR_REPLACE);
+
+ topic_id = uxr_object_id(0x01, UXR_TOPIC_ID);
+ topic_xml = "<dds>"
+ "<topic>"
+ "<name>HelloWorldTopic</name>"
+ "<dataType>HelloWorld</dataType>"
+ "</topic>"
+ "</dds>";
+ topic_req = uxr_buffer_create_topic_xml(&session, reliable_out, topic_id,
+ participant_id, topic_xml,
+ UXR_REPLACE);
+
+ publisher_id = uxr_object_id(0x01, UXR_PUBLISHER_ID);
+ publisher_xml = "";
+ publisher_req = uxr_buffer_create_publisher_xml(&session, reliable_out,
+ publisher_id,
+ participant_id,
+ publisher_xml,
+ UXR_REPLACE);
+
+ datawriter_id = uxr_object_id(0x01, UXR_DATAWRITER_ID);
+ datawriter_xml = "<dds>"
+ "<data_writer>"
+ "<topic>"
+ "<kind>NO_KEY</kind>"
+ "<name>HelloWorldTopic</name>"
+ "<dataType>HelloWorld</dataType>"
+ "</topic>"
+ "</data_writer>"
+ "</dds>";
+ datawriter_req = uxr_buffer_create_datawriter_xml(&session, reliable_out,
+ datawriter_id,
+ publisher_id,
+ datawriter_xml,
+ UXR_REPLACE);
+
+ /* Send the create entities message and wait for its status. */
+
+ requests[0] = participant_req;
+ requests[1] = topic_req;
+ requests[2] = publisher_req;
+ requests[3] = datawriter_req;
+
+ if (!uxr_run_session_until_all_status(&session, 1000, requests, status, 4))
+ {
+ printf("Error at create entities: participant: %d topic: %d "
+ "publisher: %d datawriter: %d\n",
+ status[0], status[1], status[2], status[3]);
+ return 1;
+ }
+
+ /* Wait for the Agent to match the DataWriter before sending. */
+
+ sleep(3);
+
+ /* Publish samples until the requested number is reached or the session
+ * is disconnected.
+ */
+
+ connected = true;
+ count = 0;
+
+ while (connected && count < max_topics)
+ {
+ struct hello_world_s topic;
+ ucdrBuffer ub;
+ uint32_t topic_size;
+
+ topic.index = ++count;
+ strlcpy(topic.message, "Hello DDS world!",
+ sizeof(topic.message));
+
+ topic_size = hello_world_topic_size(&topic, 0);
+
+ uxr_prepare_output_stream(&session, reliable_out, datawriter_id, &ub,
+ topic_size);
+ hello_world_serialize_topic(&ub, &topic);
+
+ printf("Send topic: %s, id: %" PRIu32 "\n", topic.message,
+ topic.index);
+ connected = uxr_run_session_time(&session, 1000);
+ }
+
+ /* Delete the session and close the transport. */
+
+ uxr_delete_session(&session);
+ uxr_close_udp_transport(&transport);
+
+ return 0;
+}
diff --git a/system/xrcedds/.gitignore b/system/xrcedds/.gitignore
new file mode 100644
index 000000000..4132a7519
--- /dev/null
+++ b/system/xrcedds/.gitignore
@@ -0,0 +1,3 @@
+/Micro-XRCE-DDS-Client/
+/Micro-CDR/
+/*.tar.gz
diff --git a/system/xrcedds/CMakeLists.txt b/system/xrcedds/CMakeLists.txt
new file mode 100644
index 000000000..e6ed9913c
--- /dev/null
+++ b/system/xrcedds/CMakeLists.txt
@@ -0,0 +1,88 @@
+#
##############################################################################
+# apps/system/xrcedds/CMakeLists.txt
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
contributor
+# license agreements. See the NOTICE file distributed with this work for
+# additional information regarding copyright ownership. The ASF licenses this
+# file to you under the Apache License, Version 2.0 (the "License"); you may
not
+# use this file except in compliance with the License. You may obtain a copy
of
+# the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations under
+# the License.
+#
+#
##############################################################################
+
+if(CONFIG_SYSTEM_XRCEDDS)
+ set(XRCEDDS_VERSION 3.0.1)
+ set(MICROCDR_VERSION 2.0.2)
+ set(XRCEDDS_DIR ${CMAKE_CURRENT_LIST_DIR}/Micro-XRCE-DDS-Client)
+ set(MICROCDR_DIR ${CMAKE_CURRENT_LIST_DIR}/Micro-CDR)
+ set(XRCEDDS_URL https://github.com/eProsima/Micro-XRCE-DDS-Client/archive)
+ set(MICROCDR_URL https://github.com/eProsima/Micro-CDR/archive)
+
+ if(NOT EXISTS ${XRCEDDS_DIR})
+ FetchContent_Declare(
+ xrcedds_fetch
+ URL ${XRCEDDS_URL}/refs/tags/v${XRCEDDS_VERSION}.tar.gz SOURCE_DIR
+ ${XRCEDDS_DIR} BINARY_DIR
+ ${NUTTX_APPS_BINDIR}/system/xrcedds/xrcedds-client
+ DOWNLOAD_NO_PROGRESS true
+ TIMEOUT 30)
+ FetchContent_GetProperties(xrcedds_fetch)
+ if(NOT xrcedds_fetch_POPULATED)
+ FetchContent_Populate(xrcedds_fetch)
+ endif()
+ endif()
+
+ if(NOT EXISTS ${MICROCDR_DIR})
+ FetchContent_Declare(
+ microcdr_fetch
+ URL ${MICROCDR_URL}/refs/tags/v${MICROCDR_VERSION}.tar.gz SOURCE_DIR
+ ${MICROCDR_DIR} BINARY_DIR
+ ${NUTTX_APPS_BINDIR}/system/xrcedds/microcdr
+ DOWNLOAD_NO_PROGRESS true
+ TIMEOUT 30)
+ FetchContent_GetProperties(microcdr_fetch)
+ if(NOT microcdr_fetch_POPULATED)
+ FetchContent_Populate(microcdr_fetch)
+ endif()
+ endif()
+
+ file(
+ GLOB XRCEDDS_SRCS ${XRCEDDS_DIR}/src/c/core/serialization/*.c
+ ${XRCEDDS_DIR}/src/c/core/session/*.c
+ ${XRCEDDS_DIR}/src/c/core/session/stream/*.c ${XRCEDDS_DIR}/src/c/util/*.c)
+
+ list(APPEND XRCEDDS_SRCS
+ ${XRCEDDS_DIR}/src/c/profile/transport/ip/udp/udp_transport.c
+ ${XRCEDDS_DIR}/src/c/profile/transport/ip/udp/udp_transport_posix.c)
+
+ if(CONFIG_SYSTEM_XRCEDDS_STREAM_FRAMING)
+ file(GLOB XRCEDDS_FRAMING_SRCS
+ ${XRCEDDS_DIR}/src/c/profile/transport/stream_framing/*.c)
+ list(APPEND XRCEDDS_SRCS ${XRCEDDS_FRAMING_SRCS})
+ endif()
+
+ file(GLOB MICROCDR_SRCS ${MICROCDR_DIR}/src/c/*.c
+ ${MICROCDR_DIR}/src/c/types/*.c)
+
+ nuttx_add_library(xrcedds STATIC)
+ target_sources(xrcedds PRIVATE ${XRCEDDS_SRCS} ${MICROCDR_SRCS})
+ target_include_directories(
+ xrcedds PRIVATE ${CMAKE_CURRENT_LIST_DIR}/include ${XRCEDDS_DIR}/include
+ ${XRCEDDS_DIR}/src/c ${MICROCDR_DIR}/include)
+
+ set_property(
+ TARGET nuttx
+ APPEND
+ PROPERTY NUTTX_INCLUDE_DIRECTORIES ${CMAKE_CURRENT_LIST_DIR}/include
+ ${XRCEDDS_DIR}/include ${MICROCDR_DIR}/include)
+endif()
diff --git a/system/xrcedds/Kconfig b/system/xrcedds/Kconfig
new file mode 100644
index 000000000..73ff164e9
--- /dev/null
+++ b/system/xrcedds/Kconfig
@@ -0,0 +1,50 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+menuconfig SYSTEM_XRCEDDS
+ bool "eProsima Micro XRCE-DDS"
+ default n
+ ---help---
+ Enable a lightweight build of Micro XRCE-DDS Client 3.0.1 and
+ Micro-CDR 2.0.2. Only the core client and the built-in UDP
+ transport are built; ROS 2, micro-ROS, discovery, and other
+ transports are not included.
+
+if SYSTEM_XRCEDDS
+
+config SYSTEM_XRCEDDS_STREAM_FRAMING
+ bool "Byte-stream transport framing"
+ default n
+ ---help---
+ Enable HDLC framing for byte-stream transports such as UART.
+ The built-in UDP transport preserves packet boundaries, so this
+ is not needed for the UDP publisher demo.
+
+config SYSTEM_XRCEDDS_MTU
+ int "UDP transport MTU"
+ range 64 65535
+ default 512
+
+config SYSTEM_XRCEDDS_MAX_OUTPUT_BEST_EFFORT_STREAMS
+ int "Maximum output best-effort streams"
+ range 1 127
+ default 1
+
+config SYSTEM_XRCEDDS_MAX_OUTPUT_RELIABLE_STREAMS
+ int "Maximum output reliable streams"
+ range 1 127
+ default 1
+
+config SYSTEM_XRCEDDS_MAX_INPUT_BEST_EFFORT_STREAMS
+ int "Maximum input best-effort streams"
+ range 1 127
+ default 1
+
+config SYSTEM_XRCEDDS_MAX_INPUT_RELIABLE_STREAMS
+ int "Maximum input reliable streams"
+ range 1 127
+ default 1
+
+endif
diff --git a/system/xrcedds/Make.defs b/system/xrcedds/Make.defs
new file mode 100644
index 000000000..abf4cd4aa
--- /dev/null
+++ b/system/xrcedds/Make.defs
@@ -0,0 +1,35 @@
+############################################################################
+# apps/system/xrcedds/Make.defs
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements. See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership. The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License. You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+ifneq ($(CONFIG_SYSTEM_XRCEDDS),)
+CONFIGURED_APPS += $(APPDIR)/system/xrcedds
+
+XRCEDDS_DIR := $(APPDIR)/system/xrcedds
+
+CFLAGS += ${INCDIR_PREFIX}"$(XRCEDDS_DIR)/include"
+CFLAGS += ${INCDIR_PREFIX}"$(XRCEDDS_DIR)/Micro-XRCE-DDS-Client/include"
+CFLAGS += ${INCDIR_PREFIX}"$(XRCEDDS_DIR)/Micro-CDR/include"
+
+CXXFLAGS += ${INCDIR_PREFIX}"$(XRCEDDS_DIR)/include"
+CXXFLAGS += ${INCDIR_PREFIX}"$(XRCEDDS_DIR)/Micro-XRCE-DDS-Client/include"
+CXXFLAGS += ${INCDIR_PREFIX}"$(XRCEDDS_DIR)/Micro-CDR/include"
+endif
diff --git a/system/xrcedds/Makefile b/system/xrcedds/Makefile
new file mode 100644
index 000000000..6619436ae
--- /dev/null
+++ b/system/xrcedds/Makefile
@@ -0,0 +1,106 @@
+############################################################################
+# apps/system/xrcedds/Makefile
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements. See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership. The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License. You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+include $(APPDIR)/Make.defs
+
+XRCEDDS_VERSION := 3.0.1
+MICROCDR_VERSION := 2.0.2
+XRCEDDS_TARBALL := Micro-XRCE-DDS-Client-$(XRCEDDS_VERSION).tar.gz
+MICROCDR_TARBALL := Micro-CDR-$(MICROCDR_VERSION).tar.gz
+XRCEDDS_UNPACK := Micro-XRCE-DDS-Client
+MICROCDR_UNPACK := Micro-CDR
+XRCEDDS_CSRC := $(XRCEDDS_UNPACK)$(DELIM)src$(DELIM)c
+MICROCDR_CSRC := $(MICROCDR_UNPACK)$(DELIM)src$(DELIM)c
+XRCEDDS_URL := https://github.com/eProsima/Micro-XRCE-DDS-Client/archive
+MICROCDR_URL := https://github.com/eProsima/Micro-CDR/archive
+
+CFLAGS += ${INCDIR_PREFIX}"$(XRCEDDS_CSRC)"
+
+XRCEDDS_CORE := $(XRCEDDS_CSRC)$(DELIM)core
+XRCEDDS_UTIL := $(XRCEDDS_CSRC)$(DELIM)util
+XRCEDDS_SESSION := $(XRCEDDS_CORE)$(DELIM)session
+XRCEDDS_STREAM := $(XRCEDDS_SESSION)$(DELIM)stream
+XRCEDDS_TRANSPORT := $(XRCEDDS_CSRC)$(DELIM)profile$(DELIM)transport
+XRCEDDS_UDP := $(XRCEDDS_TRANSPORT)$(DELIM)ip$(DELIM)udp
+
+CSRCS += $(XRCEDDS_CORE)$(DELIM)serialization$(DELIM)xrce_header.c
+CSRCS += $(XRCEDDS_CORE)$(DELIM)serialization$(DELIM)xrce_subheader.c
+CSRCS += $(XRCEDDS_CORE)$(DELIM)serialization$(DELIM)xrce_types.c
+CSRCS += $(XRCEDDS_SESSION)$(DELIM)common_create_entities.c
+CSRCS += $(XRCEDDS_SESSION)$(DELIM)create_entities_bin.c
+CSRCS += $(XRCEDDS_SESSION)$(DELIM)create_entities_ref.c
+CSRCS += $(XRCEDDS_SESSION)$(DELIM)create_entities_xml.c
+CSRCS += $(XRCEDDS_SESSION)$(DELIM)object_id.c
+CSRCS += $(XRCEDDS_SESSION)$(DELIM)read_access.c
+CSRCS += $(XRCEDDS_SESSION)$(DELIM)session.c
+CSRCS += $(XRCEDDS_SESSION)$(DELIM)session_info.c
+CSRCS += $(XRCEDDS_SESSION)$(DELIM)submessage.c
+CSRCS += $(XRCEDDS_SESSION)$(DELIM)write_access.c
+CSRCS += $(XRCEDDS_STREAM)$(DELIM)input_best_effort_stream.c
+CSRCS += $(XRCEDDS_STREAM)$(DELIM)input_reliable_stream.c
+CSRCS += $(XRCEDDS_STREAM)$(DELIM)output_best_effort_stream.c
+CSRCS += $(XRCEDDS_STREAM)$(DELIM)output_reliable_stream.c
+CSRCS += $(XRCEDDS_STREAM)$(DELIM)seq_num.c
+CSRCS += $(XRCEDDS_STREAM)$(DELIM)stream_id.c
+CSRCS += $(XRCEDDS_STREAM)$(DELIM)stream_storage.c
+CSRCS += $(XRCEDDS_UTIL)$(DELIM)ping.c
+CSRCS += $(XRCEDDS_UTIL)$(DELIM)time.c
+
+CSRCS += $(XRCEDDS_UDP)$(DELIM)udp_transport.c
+CSRCS += $(XRCEDDS_UDP)$(DELIM)udp_transport_posix.c
+
+ifeq ($(CONFIG_SYSTEM_XRCEDDS_STREAM_FRAMING),y)
+XRCEDDS_FRAMING := $(XRCEDDS_TRANSPORT)$(DELIM)stream_framing
+CSRCS += $(XRCEDDS_FRAMING)$(DELIM)stream_framing_protocol.c
+endif
+
+CSRCS += $(MICROCDR_CSRC)$(DELIM)common.c
+CSRCS += $(MICROCDR_CSRC)$(DELIM)types$(DELIM)array.c
+CSRCS += $(MICROCDR_CSRC)$(DELIM)types$(DELIM)basic.c
+CSRCS += $(MICROCDR_CSRC)$(DELIM)types$(DELIM)sequence.c
+CSRCS += $(MICROCDR_CSRC)$(DELIM)types$(DELIM)string.c
+
+$(XRCEDDS_TARBALL):
+ $(Q) echo "Downloading Micro XRCE-DDS Client $(XRCEDDS_VERSION)"
+ $(Q) curl -L -o $@ $(XRCEDDS_URL)/refs/tags/v$(XRCEDDS_VERSION).tar.gz
+
+$(MICROCDR_TARBALL):
+ $(Q) echo "Downloading Micro-CDR $(MICROCDR_VERSION)"
+ $(Q) curl -L -o $@ $(MICROCDR_URL)/refs/tags/v$(MICROCDR_VERSION).tar.gz
+
+$(XRCEDDS_UNPACK): $(XRCEDDS_TARBALL)
+ $(Q) tar zxf $<
+ $(Q) mv Micro-XRCE-DDS-Client-$(XRCEDDS_VERSION) $@
+
+$(MICROCDR_UNPACK): $(MICROCDR_TARBALL)
+ $(Q) tar zxf $<
+ $(Q) mv Micro-CDR-$(MICROCDR_VERSION) $@
+
+context:: $(XRCEDDS_UNPACK) $(MICROCDR_UNPACK)
+
+distclean::
+ $(call DELFILE,$(XRCEDDS_TARBALL))
+ $(call DELFILE,$(MICROCDR_TARBALL))
+ $(call DELDIR,$(XRCEDDS_UNPACK))
+ $(call DELDIR,$(MICROCDR_UNPACK))
+
+include $(APPDIR)/Application.mk
diff --git a/system/xrcedds/include/ucdr/config.h
b/system/xrcedds/include/ucdr/config.h
new file mode 100644
index 000000000..9e27b0a33
--- /dev/null
+++ b/system/xrcedds/include/ucdr/config.h
@@ -0,0 +1,42 @@
+/****************************************************************************
+ * apps/system/xrcedds/include/ucdr/config.h
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_XRCEDDS_INCLUDE_UCDR_CONFIG_H
+#define __APPS_SYSTEM_XRCEDDS_INCLUDE_UCDR_CONFIG_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#define MICROCDR_VERSION_MAJOR 2
+#define MICROCDR_VERSION_MINOR 0
+#define MICROCDR_VERSION_MICRO 2
+#define MICROCDR_VERSION_STR "2.0.2"
+
+#ifdef CONFIG_ENDIAN_BIG
+# define UCDR_MACHINE_ENDIANNESS UCDR_BIG_ENDIANNESS
+#else
+# define UCDR_MACHINE_ENDIANNESS UCDR_LITTLE_ENDIANNESS
+#endif
+
+#endif /* __APPS_SYSTEM_XRCEDDS_INCLUDE_UCDR_CONFIG_H */
diff --git a/system/xrcedds/include/uxr/client/config.h
b/system/xrcedds/include/uxr/client/config.h
new file mode 100644
index 000000000..4bd89f7b9
--- /dev/null
+++ b/system/xrcedds/include/uxr/client/config.h
@@ -0,0 +1,61 @@
+/****************************************************************************
+ * apps/system/xrcedds/include/uxr/client/config.h
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_XRCEDDS_INCLUDE_UXR_CLIENT_CONFIG_H
+#define __APPS_SYSTEM_XRCEDDS_INCLUDE_UXR_CLIENT_CONFIG_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#define UXR_CLIENT_VERSION_MAJOR 3
+#define UXR_CLIENT_VERSION_MINOR 0
+#define UXR_CLIENT_VERSION_MICRO 1
+#define UXR_CLIENT_VERSION_STR "3.0.1"
+
+#define UCLIENT_PROFILE_UDP
+#define UCLIENT_PLATFORM_POSIX
+#define UCLIENT_TWEAK_XRCE_WRITE_LIMIT
+
+#ifdef CONFIG_SYSTEM_XRCEDDS_STREAM_FRAMING
+# define UCLIENT_PROFILE_STREAM_FRAMING
+#endif
+
+#define UXR_CONFIG_MAX_OUTPUT_BEST_EFFORT_STREAMS \
+ CONFIG_SYSTEM_XRCEDDS_MAX_OUTPUT_BEST_EFFORT_STREAMS
+#define UXR_CONFIG_MAX_OUTPUT_RELIABLE_STREAMS \
+ CONFIG_SYSTEM_XRCEDDS_MAX_OUTPUT_RELIABLE_STREAMS
+#define UXR_CONFIG_MAX_INPUT_BEST_EFFORT_STREAMS \
+ CONFIG_SYSTEM_XRCEDDS_MAX_INPUT_BEST_EFFORT_STREAMS
+#define UXR_CONFIG_MAX_INPUT_RELIABLE_STREAMS \
+ CONFIG_SYSTEM_XRCEDDS_MAX_INPUT_RELIABLE_STREAMS
+
+#define UXR_CONFIG_MAX_SESSION_CONNECTION_ATTEMPTS 10
+#define UXR_CONFIG_MIN_SESSION_CONNECTION_INTERVAL 1000
+#define UXR_CONFIG_MIN_HEARTBEAT_TIME_INTERVAL 100
+
+#ifdef UCLIENT_PROFILE_UDP
+# define UXR_CONFIG_UDP_TRANSPORT_MTU CONFIG_SYSTEM_XRCEDDS_MTU
+#endif
+
+#endif /* __APPS_SYSTEM_XRCEDDS_INCLUDE_UXR_CLIENT_CONFIG_H */
