Common core client library that is wrapped by language-specific libraries | micro-ROS uses the core library [rcl](https://github.com/ros2/rcl/) from ROS 2 mainly as-is. The [rclc](https://github.com/micro-ROS/rclc) package provides convenience functions and an executor for use of rcl+rclc as an API for the C programming language. The standard rclcpp may be used on MCUs with sufficient RAM.

Publish/subscribe over topics | Concept available as known from ROS 2. Convenience functions for creation of publishers and subscriptions in C provided in [rclc](https://github.com/micro-ROS/rclc). *However, currently, micro-ROS supports fixed-size message types only.*

Clients and services | Concept available as known from ROS 2. *Convenience functions not yet provided and current implementation supports fixed-size message types only.*

Quality of service settings for handling non-ideal networks | Reliable and best-effort semantics available. It can be set at compile-time. *Still under development.*

Inter- and intra-process communication using the same API | No shared-memory interprocess communication on the MCU available, but all communication is performed via the agent running on a connected microprocessor. *Efficient shared-memory communication on the MCU is considered as an important feature for future releases.*

Composition of node components at compile-, link- or dlopen-time | Composition at compile-time only. Composition at runtime would depend highly on the RTOS.