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Hi from the micro-ROS team and sorry for the late reply. We've been leaving some questions unanswered, but we'll retake it from here and try to give quick technical support to the ROS answers users from now on.

Regarding your question, we haven't been syncing with the NuttX mainline since spring 2019 for technical decisions. However, we've recently decided to re-align with it soon (before the Galactic release, likely). We'll be posting an announcement on the ROS discourse, embedded category, when the time comes.

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