Very good decision. This is very exciting @mamerlan and very aligned with what was written at micro-ROS enabled robot and kinematics - #4 by vmayoral before.
Well done @mamerlan and team at eProsima. Kudos to @AKampmann for his pioneering work in embeddedRTPS. A very high quality piece of embedded work.
I like the recomendation in here. @mamerlan and @pablogs, do you guys have any preliminary benchmarks or results available comparing side by side (in the same hardware) Micro XRCE-DDS and embeddedRTPS?