Pablo Garrido

That's it, it would be great if you open a PR to Micro XRCE-DDS Client with your changes

Hello, this issue shall be moved to the Fast DDS repo, in micro-ROS Agent, the middleware is configured via XML files.

> 1- Does the micro-ROS with CAN-FD transport allows to select the message id at launch time, or is it hardcoded to 0x0001? What do you mean by message id?...

I do not recall now, you should check the Agent implementation here: https://github.com/eProsima/Micro-XRCE-DDS-Agent/blob/master/src/cpp/transport/can/CanAgentLinux.cpp

PRs are welcomed, maybe I take a while to review it, but in general, contributions are accepted. The maintenance phase means that we at eProsima are not developing new features,...

This is a sample application, we will modify it to be a pure module. But by now, you can replicate this structure in you zephyr project.

Add it here: https://github.com/micro-ROS/micro_ros_zephyr_module/blob/7c5edcdf9e0a6c6e131d9e45ad357fa0757a5584/modules/libmicroros/libmicroros.mk#L96

https://github.com/micro-ROS/micro_ros_zephyr_module/issues/104

LGTM, could you add this board to CI?

Seems like CI if failing