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RTI nano-agent

RTI nano-agent is a standard-compliant implementation of the XRCE Agent service, which can be used to bridge XRCE applications with the DDS Global Data Space.

RTI nano-agent is built on top of the RTI Connext DDS libraries, and the open-source XRCE protocol implementation provided by RTI nano-client.

This project is part of RTI's Experimental Projects.


DDS-XRCE System Architecture

Thanks to XRCE, limited devices such as microcontrollers and other embedded targets can become part of a DDS system.

DDS-XRCE (or "DDS for eXtremely Resource Constrained Environments") introduces an alternative interface to DDS which offloads all management of DDS entities from applications to an external Agent process.

Applications connect to the XRCE Agent as clients, and they use the XRCE Client API to:

  • Create and configure DDS entities on the Agent.
  • Write DDS samples using a DataWriter on the Agent.
  • Read DDS samples received by a DataReader on the Agent.

XRCE's client/server model significantly reduces the memory footprint and network bandwidth required by an application to use DDS.

The XRCE protocol may be carried over any transport that has a Maximum Transmission Unit (MTU) of at least 24 bytes. There are standard mappings for TCP/UDP sockets, and Serial Transports.

The XRCE standard also defines a reliability protocol for reliable delivery of messages over unreliable transports. XRCE also supports fragmentation (and reconstruction) of large data payloads, allowing XRCE to send data larger than the transport's MTU.


Please refer to the User Manual for information on how to install, build, and use RTI nano-agent.


RTI grants Licensee a license to use, modify, compile, and create derivative works of the Software solely in combination with RTI Connext DDS. Licensee may redistribute copies of the Software provided that all such copies are subject to this License. The Software is provided "as is", with no warranty of any type, including any warranty for fitness for any purpose. RTI is under no obligation to maintain or support the Software. RTI shall not be liable for any incidental or consequential damages arising out of the use or inability to use the Software. For purposes of clarity, nothing in this License prevents Licensee from using alternate versions of DDS, provided that Licensee may not combine or link such alternate versions of DDS with the Software.

(c) 2020 Copyright, Real-Time Innovations, Inc. (RTI)