The ROS Client Library for embedded devices has been built using the following building blocks:
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| rcl |
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| DDS (Tinq) | DDS Layer
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| RTOS (NuttX) | RTOS Layer
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| Hardware (STM32F4) | Hardware Layer
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For now, thew implementation focuses in the configuration described above using the NuttX RTOS and Tinq's DDS.
Ideally, rcl will me modified to support a different set of RTOS/DDS options.