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Since last year, micro-ROS supports FreeRTOS (and also Zephyr). Please see https://github.com/micro-ROS/micro_ros_setup for details on the supported hardware and RTOS combinations. On the microcontroller, micro-ROS uses the new XRCE-DDS standard (implemented by eProsima's Micro XRCE-DDS). Please see https://micro-ros.github.io/architecture for details.