Static remapping of ROS names | *Should be available if passed as argument via standard rcl API - to be checked.*

Demos of an all-ROS 2 mobile robot | Demos of several ROS 2 + micro-ROS robots available. See [https://micro-ros.github.io/docs/tutorials/demos/](https://micro-ros.github.io/docs/tutorials/demos/).

Support for real-time code | The [rclc Executor](https://github.com/micro-ROS/rclc/tree/master/rclc) provides mechanisms for implementing real-time-critical applications with micro-ROS.

IDL | Same message IDL as with ROS 2, but use of resource-optimized CDR serialization implementation named [Micro-CDR](https://github.com/eProsima/Micro-CDR).

Build system | Build systems of NuttX and FreeRTOS integrated with colcon. *Integration of Zephyr's build system with colcon is in progress.* The build system is likely the most fragile part of micro-ROS w.r.t. the long-term maintenance, due to the many dependencies.

Continuous Integration | Currently, the CI for micro-ROS is distributed to GitHub and Gitlab. *Until the end of 2020, all CI should be moved migrated completely to the new CI actions of GitHub.* Please note that those packages that are released for standard ROS 2 are also built and tested on [build.ros2.org](http://build.ros2.org/).

Documentation | High-level documentation at [micro-ros.github.io](https://micro-ros.github.io/). For detailled information please consult the README.md files in the relevant micro-ROS repositories at [github.com/micro-ROS/](https://github.com/micro-ROS/).

Logging | *Could be available as part of the standard logging mechanism in principle but not supported by Micro-XRCE-DDS due to dynamic message size. To be checked ...*

Time-related: Support of rate and sleep with system clock | rcl timers use POSIX API. Tested successfully on NuttX, but resolution is very low. Higher resolution could be achieved with hardware timers - which highly depends on the MCU and possibly the RTOS. *This feature requires further investigation.*