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NEW Agent functionality in micro-ROS: multiserial transport

Hi all,

Multiserial micro-ROS Agent functionality allows multiple boards communication in the same Agent process. This great feature enhances the usability and resource optimization in the CPU.

Multiserial Agent mode is supported on Prosima’s Micro XRCE-DDS level, the micro-ROS middleware implementation.

The micro XRCE-DDS agent multiserial transport allows the connection of multiple micro-ROS nodes that use a serial transport with the same micro-ROS Agent, just by providing a list of serial descriptors.

As a result, the Agent process is opened only once to act on behalf of several clients, contributing to ease communication and to optimize micro-ROS memory resources in the CPU.

Feature supported in micro-ROS Galactic, Foxy and Rolling!