diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 309d76d42b..445b6c2614 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -17,6 +17,7 @@
 #include <AP_HAL_ChibiOS/sdcard.h>
 #include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>
 #endif
+#include <AP_DDS/AP_DDS_Client.h>
 
 #define SCHED_TASK(func, rate_hz, max_time_micros, prio) SCHED_TASK_CLASS(AP_Vehicle, &vehicle, func, rate_hz, max_time_micros, prio)
 
@@ -124,6 +125,12 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
     AP_SUBGROUPINFO(nmea, "NMEA_", 17, AP_Vehicle, AP_NMEA_Output),
 #endif
 
+#if AP_DDS_ENABLED
+    // @Group: XRCE
+    // @Path: ../AP_DDS/AP_DDS_Client.cpp
+    AP_SUBGROUPPTR(dds_client, "XRCE_", 18, AP_Vehicle, AP_DDS_Client),
+#endif
+
     AP_GROUPEND
 };
 
@@ -301,6 +308,12 @@ void AP_Vehicle::setup()
     AP_Param::invalidate_count();
 
     gcs().send_text(MAV_SEVERITY_INFO, "ArduPilot Ready");
+
+#if AP_DDS_ENABLED
+    if (!init_dds_client()) {
+        gcs().send_text(MAV_SEVERITY_ERROR, "DDS Client: Failed to Initialize");
+    }
+#endif
 }
 
 void AP_Vehicle::loop()
@@ -817,6 +830,16 @@ void AP_Vehicle::check_motor_noise()
 #endif
 }
 
+#if AP_DDS_ENABLED
+bool AP_Vehicle::init_dds_client()
+{
+    if (AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_DDS_XRCE, 0)) {
+        dds_client = new AP_DDS_Client();
+    }
+    return dds_client != nullptr;
+}
+#endif // AP_DDS_ENABLED
+
 AP_Vehicle *AP_Vehicle::_singleton = nullptr;
 
 AP_Vehicle *AP_Vehicle::get_singleton()
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index f0f8ac0a7f..c4d47f0f35 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -60,6 +60,8 @@
 #include <AP_CheckFirmware/AP_CheckFirmware.h>
 #include <Filter/LowPassFilter.h>
 
+class AP_DDS_Client;
+
 class AP_Vehicle : public AP_HAL::HAL::Callbacks {
 
 public:
@@ -393,6 +395,12 @@ protected:
     SITL::SIM sitl;
 #endif
 
+#if AP_DDS_ENABLED
+    // Declare the dds client for communication with ROS2 and DDS(common for all vehicles)
+    AP_DDS_Client *dds_client;
+    bool init_dds_client() WARN_IF_UNUSED;
+#endif
+
 private:
 
     // delay() callback that processing MAVLink packets