Bloom

Lightweight C middleware for ROS 2 ↔ MCU communication.

Bloom aims to provide a minimal, lightweight MCU API while keeping the underlying protocol and transport layers fully modular and replaceable.

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🏗️ Architecture Stack

       ROS 2
         ↓
    Bloom Core
         ↓
 Protocol Interface
         ↓
    XRCE Adapter
         ↓
   Micro XRCE-DDS
         ↓
     Transport
         ↓
        MCU