Open source solution

eProsima Micro XRCE-DDS is an open source wire protocol that implements the OMG DDS for eXtremly Resource Constrained Environment standard (DDS-XRCE). The aim of the DDS-XRCE protocol is to provide access to the DDS Global-Data-Space from resource-constrained devices. This is achieved as a result of a client-server architecture, where low resource devices, called XRCE Clients, are connected to a server, called XRCE Agent, which acts on behalf of its clients in the DDS Global-Data-Space.

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Micro XRCE-DDS is composed by two main elements:

DDS Global-Data-Space


Apart from the ones mentioned above, Micro XRCE-DDS uses two additional components:

  • Micro CDR: a de/serialization engine used in the Client library.
  • Micro XRCE-DDS Gen: a code generator tool creating Micro CDR de/serialization functions and Client apps examples from IDL sources.


Low Resource Consumption

  • The design and implementation of this middleware consider the memory restriction of the devices.
  • Micro XRCE-DDS Client is completely dynamic memory free, allocating all the memory at start-up.
  • From the point of view of memory footprint, the latest version of this library has a memory consumption of less than 75 KB of Flash memory and 2.5 KB of RAM for a complete publisher and subscriber application.

Multi-Transport Support

  • Contrary to other IoT middleware such as MQTT and CoaP which work over only a particular transport layer, XRCE supports multiple transport protocol natively. In particular, the latest version of Micro XRCE-DDS supports UDP, TCP, and a custom Serial transport protocol.
  • eProsima Micro XRCE-DDS has a transport interface for both Agent and Client which simplifies a transport custom design. This gives the user the possibility of implementing easily the port of Micro XRCE-DDS to different platforms and the addition of new transports.

Multi-Platform Support

  • eProsima Micro XRCE-DDS Client supports Windows, Linux, and NuttX or FreeRTOS as embedded RTOS.
  • eProsima Micro XRCE-DDS Agent supports Windows and Linux platform.

Last Release FEATURES:

  • Peer-to-peer communication.
  • Message fragmentation support.
  • Programmable Agent through modern CPP API.
  • FreeRTOS support.
  • Application configuration.



Micro XRCE-DDS is focused on microcontroller applications which require a publisher/subscriber architecture. Some examples of this kind of applications are found in a sensor network, IoT or robotics. 

Some important companies such as Renesas and ROBOTIS are using already Micro XRCE-DDS as their middleware solution. Furthermore, the micro-ROS project, an extension of ROS2 (The Robot Operating System) for microcontrollers, has adopted Micro XRCE-DDS as its middleware layer, easing the adoption of Micro XRCE-DDS by a big community of developers with thousands of robotic and IoT active projects.


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Government Sponsorship.

This product was partially funded by the Spanish Ministry of Energy, Tourism and Digital Agenda, within the National plan of Scientific Research, Development and Technological Innovation 2013-2016. (Project TSI-101000-2016-20)