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Refs #3486. Adds some wording improvements.

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Borja Outerelo
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<a href="http://www.eprosima.com"><img src="http://www.eprosima.com/images/logos/eprosima/logo.png" align="center" hspace="8" vspace="2" width="850" height="200" ></a> # Micro ROS Agent
# Overview ## Overview
This repo contains the Micro-Ros Agent package. This repository contains the Micro-ROS Agent package.
Micro-Ros Agent is a ROS2 node that wrapps the Micro XRCE-DDS Agent. Micro-ROS Agent is a ROS 2 node that wraps the Micro XRCE-DDS Agent.
For farther information about Micro XRCE-DDA Agent click [here](https://github.com/eProsima/Micro-XRCE-DDS-Agent) For further information about Micro XRCE-DDS Agent click [here](https://github.com/eProsima/Micro-XRCE-DDS-Agent)
This package is a part of the Micro-ROS poject stack. This package is a part of the Micro-ROS project stack.
For more information about Micro-ROS project click [here](). For more information about Micro-ROS project click [here](https://microros.github.io/micro-ROS/).
The node acts as a server between DDS Network and Micro-ROS nodes. The node acts as a server between DDS Network and Micro-ROS nodes inside MCU.
It will receive messages containing operations from Micro-ROS nodes, keep track of the Micro-ROS nodes. It receives and send messages from Micro-ROS nodes, and keep track of the Micro-ROS nodes exposing them to the ROS 2 network.
The node will interact with DDS Global Data Space on behalf of the Micro-ROS nodes. The node interacts with DDS Global Data Space on behalf of the Micro-ROS nodes.
While the node is running, it attends any received request from the Micro-ROS nodes and will answers back with the result of a request each time a request is attended. ## Package features
### XML generation
# Package features During the build process, the package looks for all ROS 2 messages to generate an initial list of XML profiles.
These profiles can are referenced in the Agent-Client communication to avoid sending the full XML content.
This reference mechanism can be switched on and off from the Micro XRCE-DDS middleware layer.
## XML generation ### Agent-Client communication mechanism
During the build proces, the package will look for all ROS2 / Micro-ROS messages in order to generare XML profiles. Communication between the Micro-ROS Agent and the Micro-ROS nodes supports two types of transport:
This XML file can be referenced in the Agent-Client comunication in order to avoid sending the full XML content.
- UDP.
- SerialPort.
## Agent-Client comunication mechanims All available configurations are supported directly by the Micro XRCE-DDS agent.
For further information on how to configure the agent click [here](TODO).
Communication between the Micro-ROS Agent and the Micro-ROS nodes supports two kind transports:
- UDP
- SerialPort.
All available configurations are supported direcly by the Micro XRCE-DDS agent.
For farther information how configure the agent click [here]().