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to take part as DDS publishers and/or subscribers in the DDS Global Data Space.\n \n *Micro XRCE-DDS* provides both, a plug and play *Micro XRCE-DDS Agent* and an API layer which allows you to implement your *Micro XRCE-DDS Clients*.\n \n .. image:: images/xrcedds_architecture.svg\n \n+Main features\n+~~~~~~~~~~~~~\n+High performance.\n+    Uses a static low level serialization library `(MicroCDR) <https://github.com/eProsima/Micro-CDR>`_ that serialize in `XCDR <https://www.omg.org/spec/DDS-XTypes/1.2/PDF>`_.\n+\n+Low resouces.\n+    The client library is dynamic memory free and static memory free.\n+    This means that the only memory charge is due by the stack growth.\n+    It can manage a simple publisher/subscriber with less of 2KB of RAM.\n+    Besides, the client is built with a *profiles* concept, that allows to add or remove functionality to the library in order to reduce the binary size.\n+\n+Multi-platform.\n+    The OS dependencies are treated as pluggable modules.\n+    The user can implement easily his own platform modules in order to use *Micro XRCE-DDS Client* library in his specific platform.\n+    By default the proyect can run over `Linux`, `Windows` and `Nuttx`.\n+\n+Free and Open Source.\n+   The client library, among with the agent executable, the generator tool and internal dependencies as *MicroCDR* or *FastRTPS* are all of them free and open source.\n+\n+Easy to use.\n+    The project comes with examples of a publisher and a subscriber,\n+    an example of how MicroXRCE-DDS is deployed into a stage and\n+    an interactive demo that can be used with the `ShapesDemo <https://github.com/eProsima/ShapesDemo>`_ with the purpose of understanding the DDS-XRCE protocol and making tests.\n+    The client API es completely explained and documentation comes with a guided example of how create your own client application.\n+\n+Implementation of the DDS-XRCE standard.\n+    `DDS-XRCE <https://www.omg.org/spec/DDS-XRCE/1.0/Beta1/PDF>`_ is a standard communication protocol of OMG consortium\n+    focused in communicating eXtremely Resource Constrained Environments with the DDS world.\n+\n+Best effort and reliable communication.\n+    *Micro XRCE-DDS* supports both, *best effort* for a fast and light communication and *reliable* when the communication reliability is needed.\n+\n+Transport layer pluggable.\n+    Micro XRCE-DDS is not built over a specific transport as *serial* or *UDP*.\n+    It is agnostic about the transport used, and give to the user the posibility of implement easily his own transport.\n+    By the fault, *UPD*, *TCP*, and *serial* transports are provided.\n+\n+Commercial Support.\n+    Available: 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