Pablo Garrido

Hello @nikitax75 which is the main application you are using?

Try to use an executor with a timer and also follow an approach where you control the client-agent connection status. More info here: https://docs.vulcanexus.org/en/latest/rst/tutorials/micro/handle_reconnections/handle_reconnections.html#state-machine-approach

Example here: https://github.com/micro-ROS/micro_ros_arduino/blob/iron/examples/micro-ros_reconnection_example/micro-ros_reconnection_example.ino

You can find more information about XRCE-DDS [here](https://micro-xrce-dds.docs.eprosima.com/en/latest/) and [here](https://www.omg.org/spec/DDS-XRCE/1.0/About-DDS-XRCE)

Add the optimization flags to the cross compilation toolchain: https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/blob/iron/microros_static_library/library_generation/toolchain.cmake

micro-ROS is not thread-safe by default. The recommended option for this use case is using a single node in a single task.

This repo is intended to be used under Linux, your problem is that `make` is not installed.

A better option is to prepare a Virtual Box machine since this tool uses docker, and it is quite hard to run docker inside docker. In any case, you can...

Could you share your `colcon.meta` and `rmw_microxrcedds/config.h`?

Could you share the micro-ROS Agent output with the flag `-v6`?