@@ -81,7 +81,7 @@ Porting of OrtCAN to RTEMS, extension of NuttX OrtCAN support.
### ORTE Data-Distribution Service (DDS) Implementation
ORTE implements the Real-Time Publish-Subscribe (RTPS) communication protocol.
DDS (version 2) is used as a coreRobot Operating System version 2 ([ROS 2](https://index.ros.org/doc/ros2/)) components communication protocol. ORTE is very light-way implementation of DDS protocol version 1 which has been developed at Department of Control Engineering FEE CTU and allowed standardization of the original version which required the second independent interoperable implementation. Project waits for update to protocol version 2, analysis and substantial part of update has been already done in frame of Jiří Hubáček's diploma theses [Implementation of actual version of DDSI-RTPS protocol for distributed control in Ethernet network]https://support.dce.felk.cvut.cz/mediawiki/images/3/37/Dp_2016_hubacek_jiri.pdf)
DDS (version 2) is used as a coreRobot Operating System version 2 ([ROS 2](https://index.ros.org/doc/ros2/)) components communication protocol. ORTE is very light-way implementation of DDS protocol version 1 which has been developed at Department of Control Engineering FEE CTU and allowed standardization of the original version which required the second independent interoperable implementation. Project waits for update to protocol version 2, analysis and substantial part of update has been already done in frame of Jiří Hubáček's diploma theses [Implementation of actual version of DDSI-RTPS protocol for distributed control in Ethernet network](https://support.dce.felk.cvut.cz/mediawiki/images/3/37/Dp_2016_hubacek_jiri.pdf)
