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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`.
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 # 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.