The Micro XRCE-DDS Agent acts as a server to bridge the DDS dataspace network with Micro XRCE-DDS Client applications.
The Micro XRCE-DDS Agents receive messages containing request operations from the Clients to publish and subscribe to topics in the DDS global dataspace. Remote procedure calls, as defined by the DDS-RPC standard, are also supported, allowing to communicate according to a request/reply paradigm. The Agents then process these XRCE requests and send back a response with the operation status result and with the requested data, in the case of subscribe/reply operations.
Agents keep track of the Clients by means of a dedicated ProxyClient entity that acts on behalf of the latter. This is made possible by the creation of DDS Entities on the Agent as a result of Clients' operations, such as Participants, Topics, Publishers, and Subscribers, which can interact with the DDS Global dataspace.
The communication between a Micro XRCE-DDS Client and a Micro XRCE-DDS Agent is achieved by means of several kinds of built-in transports: UDPv4, UDPv6, TCPv4, TCPv6 and Serial communication. In addition, there is the possibility for the user to generate its own Custom transport. You can use an Agent with these transports by means of the standalone executable generated when building the project, which comes with a built-in CLI tool to select one of the transports listed above.
This built-in Agent can also be installed and launched using the provided Snap package or the provided Docker image.
You can access the eProsima Micro XRCE-DDS user documentation online, which is hosted on Read the Docs.
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