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+# mros2
+
+`mros2` (formally mROS 2) realizes an agent-less and lightweight runtime environment compatible with ROS 2 for embedded devices.
+It consists of basic APIs for pub/sub communication, RTPS protocol, UDP/IP stack, and real-time kernel.
+Embedded nodes can now communicate directly with native ROS 2 nodes via topic!
+
+This repository maintains the communication layer of mROS 2, that mainly offers pub/sub APIs compatible with [rclcpp](https://docs.ros2.org/dashing/api/rclcpp/index.html) for embedded devices. 
+[ROS 2](https://docs.ros.org/en/dashing/) is a de-fact platform for the robot system development, and provides pub/sub communication infrastructure with the DDS/RTPS protocol.
+
+## Features
+
+- **Agent-less**: a node on mROS 2 autonomously discovers communication nodes on the host with the feature of [embeddedRTPS](https://github.com/mROS-base/embeddedRTPS). It means no agent/bridge is required for pub/sub communication from the embedded devices.
+- **Lightweight**: mROS 2 APIs are implemented by C++ to be operated on the embedded devices. All software stacks are also implemented only in C/C++.
+- **Real-time**: mROS 2 employs the real-time kernel (e.g., [TOPPERS kernel](https://www.toppers.jp/en/project.html)) as the runtime platform in order to enhance the real-time capability.
+
+## Supported platform
+
+Since this repository itself only maintains the communication layer of mROS 2, we also publish the implementation on the embedded board using this layer and the embedded kernel.
+Please see each repository to learn how to use it.
+
+
+| name | board | kernel |
+|:---|:---|:---|
+| [mros2-asp3-f767zi](https://github.com/mROS-base/mros2-asp3-f767zi) |[STM32 NUCLEO-F767ZI](https://www.st.com/en/evaluation-tools/nucleo-f767zi.html) | [TOPPERS/ASP3](https://www.toppers.jp/en/project.html) |
+
+Please let us know if you have a request for a support of board/kernel, or if you could implement this layer on another platform.
+
+## License
+
+The source code of this repository itself is published under [Apache License 2.0](https://github.com/mROS-base/mros2/blob/main/LICENSE).  
+Please note that this repository contains [embeddedRTPS and its third party libraries](https://github.com/mROS-base/embeddedRTPS#third-party-libraries) as the submodule, and also check their Licenses.