Pablo Garrido

The micro-ROS build step is failing, this include folder does not have all the required packages. Can you paste here the micro-ROS build process output?

Have you installed the dependencies in the IDF environment? https://github.com/micro-ROS/micro_ros_espidf_component#dependencies In any case, my recommendation is to use the recommended approach (ESP-IDF CLI) as it is explained in the README.md.

Hello @spiderkeys I guess that it is an error, but `PublishHelloWorldClient` won't match with the code you have shared since it does not have the same topic name, type name,...

Could you also add the Micro XRCE-DDS type support?

Because of https://github.com/PX4/PX4-Autopilot/pull/19326 I thought that you were generating another type of support for the XRCE-DDS side. Can you check that the RTI Connext side is ensuring XCDR and not...

Yes please, share a PCAP of the discovery process.

We found something. Could you please try to create the subscription in RTI AdminConsole removing the partitions? I have seen [here](https://community.rti.com/forum-topic/partition-settings-admin-console) that there is a text field with the text...

Possible fix here: https://github.com/eProsima/Fast-DDS/pull/2580

We'll update Fast DDS version in the Micro XRCE-DDS Agent as soon as the patch is merged.

> * Can I publish a topic from program A and receive it both from program B and program C? Yes if those programs share the same memory and address...