Hello @Marcel,
Nice to hear that! We have implemented a basic approach for the sake of simplicity, we provide a lot of details in the last EWG. Anyhow it is completely feasible to use micro-ROS in Tiva C along with FreeRTOS since there are available ports of FreeRTOS for this MCU, it is just a matter of adjusting some heap and timing details. Can you share which is your use case?
If you improve this micro-ROS port to add a version with FreeRTOS please do not hesitate to contribute your work to the Github repo. Also, if you need professional support you can contact us at pablogarrido@eprosima.com or mariamerlan@eprosima.com.