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.*

ROS 1 - ROS 2 communication bridge | Not applicable, but the standard ROS 1 - ROS 2 bridge can be used via agent on a stronger microprocessor to communicate with micro-ROS nodes.

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.

Support for nodes with managed lifecycles | Very basic support provided by [rcl_lifecycle](https://github.com/ros2/rcl/tree/master/rcl_lifecycle/) out of the box for micro-ROS. *Further convenience functions are planned.*