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+**NOTE:** We maintain this repository as a component of [mros2](https://github.com/mROS-base/mros2), by adding some modifications from [e372abd](https://github.com/mROS-base/embeddedRTPS/tree/e372abdb6c75059d0eece851d77ae20650522f97) of the original repository. So the base branch of this repository has been changed to `mros2`.
+
+# embeddedRTPS
+
+This repository contains source code for embeddedRTPS, a portable and open-source C++ implementation of the Real-Time Publish-Subscribe Protocol (RTPS) for embedded system.  RTPS is based on the publish-subscribe mechanism and is at the core of the Data Distribution Service (DDS). DDS is used, among many other applications, in Robot Operating System 2 (ROS2) and is also part of the AUTOSAR Adaptive platform. embeddedRTPS allows to integrate Ethernet-capable microcontrollers into DDS-based systems as first-class participants.
+
+embeddedRTPS is portable, as it only consumes lightweightIP and FreeRTOS APIs, which are available for a large number of embedded systems. embeddedRTPS avoids dynamic memory allocation once endpoints are constructed possible. Please note that embeddedRTPS only implements rudimentary Quality-of-Service (QoS) policies and is far from a complete RTPS implementation.
+
+More information is provided in our ITSC'2019 publication [1], which we kindly ask you to consider citing if you find embeddedRTPS helpful for your work. 
+
+### Features
+
+**Discovery** Simple Participant Discovery Protocol (SPDP) as well as Simple Endpoint Discovery Protocol (SEDP) are implemented.
+
+**Interoperability** We have successfully tested interoperability with eProsima FastRTPS v1.8.0.
+
+**QoS Policies** Both reliable as well as best-effort endpoints are implemented.
+
+**UDP Multicast** Our implementation currently does not make use of UDP multicast communication. This can lead to sub-optimal performance.
+
+**Message Size** Message size is currently limited by lwIP buffer size and are not split up among multiple buffers
+
+### Supported Platforms
+
+We have successfully ported embeddedRTPS on the following platforms:
+
+- Infineon Aurix
+- Xilinx UltraScale+ Cortex R5 
+- STM32F767ZI
+
+Due to license issues, we can only make source code available for the STM32.
+
+### Examples
+
+The following repository provides code examples for running embeddedRTPS on the STM32F767ZI
+
+- [STM32F767ZI](https://github.com/embedded-software-laboratory/embeddedRTPS-STM32)
+
+### Third Party Libraries
+
+embeddedRTPS makes use of the following third party libraries:
+- lwIP (Raw Mode)
+- FreeRTOS
+- [eProsima Micro-CDR](https://github.com/eProsima/Micro-CDR)
+
+### Performance
+
+Round-trip-times (RTT) for different platforms and packet sizes are depicted in the tables below.
+
+**Table 1** 2x Infineon Aurix TC277 running embeddedRTPS. 
+
+**Table 2** STM32F7 running embeddedRTPS connected to an Intel NUC running eProsima FastRTPS.
+
+<img src="https://raw.githubusercontent.com/embedded-software-laboratory/embeddedRTPS/master/media/performance_rtt.png" width="60%">
+
+### Acknowledgment
+embeddedRTPS has been developed at **[i11 - Embedded Software, RWTH Aachen University](www.embedded.rwth-aachen.de)** in the context of the **[UNICARagil](www.unicaragil.de)** project.
+
+*This research is accomplished within the project “UNICARagil” (FKZ EM2ADIS002). We acknowledge the financial support for the project by the Federal Ministry of Education and Research of Germany (BMBF).*
+
+
+### References
+
+<details><summary>[1] A. Kampmann, A. Wüstenberg, B. Alrifaee and S. Kowalewski, "A Portable Implementation of the Real-Time Publish-Subscribe Protocol for Microcontrollers in Distributed Robotic Applications," 2019 IEEE Intelligent Transportation Systems Conference (ITSC), Auckland, New Zealand, 2019, pp. 443-448.
+doi: 10.1109/ITSC.2019.8916835</summary>
+<p>
+
+```
+@INPROCEEDINGS{8916835, 
+author={A. {Kampmann} and A. {Wüstenberg} and B. {Alrifaee} and S. {Kowalewski}}, 
+booktitle={2019 IEEE Intelligent Transportation Systems Conference (ITSC)}, 
+title={A Portable Implementation of the Real-Time Publish-Subscribe Protocol for Microcontrollers in Distributed Robotic Applications}, 
+year={2019}, 
+volume={}, 
+number={}, 
+pages={443-448}, 
+keywords={automobiles;intelligent transportation systems;microcontrollers;middleware;operating systems (computers);protocols;robot programming;Robot Operating System 2;microcontrollers;distributed automotive applications;distributed robotic applications;Data Distribution Service;DDS;open-source RTPS implementations;publish-subscribe protocol;AUTOSAR Adaptive platform;Protocols;Automotive engineering;Message systems;Real-time systems;Microcontrollers;Middleware;Operating systems}, 
+doi={10.1109/ITSC.2019.8916835}, 
+ISSN={null}, 
+month={Oct},}
+```
+
+</p>
+</details>