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You can use the micro-ROS Agent in the Raspberry Pi by using the snap image:

snap install micro-xrce-dds-agent

and then once the Teensy is connected to your RPi just launch the agent:

micro-xrce-dds-agent serial --dev [YOUR TEENSY PORT] -v6

You can check the serial port by:

ls /dev/serial/by-name/

If you have some more issues please open an issue in some of our Github repos. Thanks!

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