# micro-ROS supports RTEMS

**URL:** <https://discourse.openrobotics.org/t/micro-ros-supports-rtems/23300>\
**Category:** Embedded\
**Tags:** wg-embedded, micro-ros, ros-2\
**Created:** [November 30, 2021, 10:58am UTC](https://discourse.openrobotics.org/t/micro-ros-supports-rtems/23300 "2021-11-30T10:58:50Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![mamerlan](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/mamerlan/32/11472_2.png) [@mamerlan](https://discourse.openrobotics.org/u/mamerlan)\
**Post date:** [November 30, 2021, 10:58am UTC](https://discourse.openrobotics.org/t/micro-ros-supports-rtems/23300/1 "2021-11-30T10:58:50Z")

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RTEMS is a Real-Time Executive for Multiprocessor Systems extendly used in R&D space exploration projects. **RTEMS is open-source and [prequalified](https://rtems-qual.io.esa.int/).**

RTEMS supports 18 architectures, more than 200 boards and it is used in space by numerous spacecrafts such as:

- NASA: MRO, TGO, Parker Solar Probe, Juno
- ESA: BepiColombo, ExoMars
- Galileo

The micro-ROS framework bridges the gap between resource-constrained microcontrollers and larger processors in robotic applications that are based on ROS 2. Thanks to this great [contribution](https://github.com/eProsima/Micro-XRCE-DDS-Client/pull/283) from @[roncapat](https://github.com/roncapat)

- The transports of [Micro XRCE-DDS](https://www.eprosima.com/index.php/products-all/eprosima-micro-xrce-dds), the [micro-ROS](https://micro.ros.org/)middleware implementation by [eProsima](https://www.eprosima.com/), support now RTEMS TCP/UDP
- The Micro XRCE-DDS Client (and subsequently micro-ROS) can build and run on RTEMS 5

The port to the middleware Micro XRCE-DDS is completed.  
**Instructions for building micro-ROS on top of RTEMS are about to come. Stay tuned!**

Check @roncapat live presentation in the ROS 2 Embedded Working Group meeting (23rd Nov) **[here](http://discourse.ros.org/t/ros-2-embedded-wg-meetings/15460/27?u=mamerlan)**