microdds_client: rename to uxrce_dds_client

| | old version | new version (second proposal) | |-|-|-| | module name | `microdds_client` | **`uxrce_dds_client`** | | strings / comments about the module | non consistent | **UXRCE-DDS Client** | | menuconfig option | `MODULES_MICRODDS_CLIENT` | **`MODULES_UXRCE_DDS_CLIENT`** | | module parameters group name | `Micro XRCE-DDS` | **UXRCE-DDS Client** | | module parameters name prefix | `XRCE_DDS_` | `UXRCE_DDS_` | | module class name | `MicroddsClient` | **`UxrceddsClient`** | |`init.d/rcS` whenever the module is mentioned | `microdds` | **`uxrce_dds`** | | main doc page name | XRCE-DDS (PX4-FastDDS Bridge) | **uXRCE-DDS (PX4-micro XRCE-DDS Bridge)**| | environment variable to have custom namespace in simulation | PX4_MICRODDS_NS | **PX4_UXRCE_DDS_NS** | Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
2023-04-20 18:06:06 -07:00 · 2023-04-20 18:06:06 -07:00 · 9e5420bbbd
parent 1d4b66fcbc
commit 9e5420bbbd
52 changed files with 121 additions and 122 deletions
--- a/.gitmodules
+++ b/.gitmodules
@ -58,7 +58,7 @@
 	path = src/lib/crypto/libtommath
 	url = https://github.com/PX4/libtommath.git
 	branch = px4
-[submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
-	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
+[submodule "src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client"]
+	path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
 	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
 	branch = px4
--- a/2
+++ b/2
@ -483,7 +483,7 @@ shellcheck_all:
 validate_module_configs:
 	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
 	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
-	-not -path "$(SRC_DIR)/src/modules/microdds_client/dds_topics.yaml" \
+	-not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \
 	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
 	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
 	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@ -129,7 +129,7 @@ fi
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
-param set XRCE_DDS_KEY $((px4_instance+1))
+param set UXRCE_DDS_KEY $((px4_instance+1))

 if [ $AUTOCNF = yes ]
 then
@ -265,26 +265,26 @@ fi

 navigator start

-# Try to start the microdds_client with UDP transport if module exists
-microdds_ns=""
+# Try to start the UXRCE-DDS Client with UDP transport if module exists
+uxrce_dds_ns=""
 if [ "$px4_instance" -ne "0" ]
 then
 	# for multi intances setup, add namespace prefix
-	microdds_ns="-n px4_$px4_instance"
+	uxrce_dds_ns="-n px4_$px4_instance"
 fi
-if [ -n "$PX4_MICRODDS_NS" ]
+if [ -n "$PX4_UXRCE_DDS_NS" ]
 then
 	# Override namespace if environment variable is defined
-	microdds_ns="-n $PX4_MICRODDS_NS"
+	uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
 fi
 if [ -n "$ROS_DOMAIN_ID" ]
 then
-	# Match XRCE_DDS_DOM_ID with ROS_DOMAIN_ID, if defined
-	param set XRCE_DDS_DOM_ID $ROS_DOMAIN_ID
+	# Match UXRCE_DDS_DOM_ID with ROS_DOMAIN_ID, if defined
+	param set UXRCE_DDS_DOM_ID $ROS_DOMAIN_ID
 else
-	param set XRCE_DDS_DOM_ID 0
+	param set UXRCE_DDS_DOM_ID 0
 fi
-microdds_client start -t udp -h 127.0.0.1 -p 8888 $microdds_ns
+uxrce_dds_client start -t udp -h 127.0.0.1 -p 8888 $uxrce_dds_ns

 if param greater -s MNT_MODE_IN -1
 then
--- a/Tools/astyle/files_to_check_code_style.sh
+++ b/Tools/astyle/files_to_check_code_style.sh
@ -25,5 +25,5 @@ exec find boards msg src platforms test \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/crypto/libtomcrypt -prune -o \
    -path src/lib/crypto/libtommath -prune -o \
-    -path src/modules/microdds_client/Micro-XRCE-DDS-Client -prune -o \
+    -path src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client -prune -o \
    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
--- a/Tools/convert_ip.py
+++ b/Tools/convert_ip.py
@ -1,7 +1,7 @@
 #!/usr/bin/env python3

 """
-Converts IP address given in decimal dot notation to int32 to be used in XRCE_DDS_0_CFG parameter
+Converts IP address given in decimal dot notation to int32 to be used in UXRCE_DDS_CFG parameter
 and vice-versa

@author: Beniamino Pozzan (beniamino.pozzan@phd.unipd.it)
--- a/boards/ark/fmu-v6x/default.px4board
+++ b/boards/ark/fmu-v6x/default.px4board
@ -60,11 +60,11 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
--- a/boards/beaglebone/blue/default.px4board
+++ b/boards/beaglebone/blue/default.px4board
@ -49,7 +49,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@ -60,6 +59,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
--- a/boards/cuav/nora/default.px4board
+++ b/boards/cuav/nora/default.px4board
@ -66,13 +66,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
--- a/boards/cuav/x7pro/default.px4board
+++ b/boards/cuav/x7pro/default.px4board
@ -67,13 +67,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
--- a/boards/cubepilot/cubeorange/default.px4board
+++ b/boards/cubepilot/cubeorange/default.px4board
@ -62,11 +62,11 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
--- a/boards/cubepilot/cubeorangeplus/default.px4board
+++ b/boards/cubepilot/cubeorangeplus/default.px4board
@ -62,11 +62,11 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
--- a/boards/emlid/navio2/default.px4board
+++ b/boards/emlid/navio2/default.px4board
@ -51,7 +51,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@ -62,6 +61,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
--- a/boards/holybro/durandal-v1/default.px4board
+++ b/boards/holybro/durandal-v1/default.px4board
@ -59,13 +59,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
--- a/boards/holybro/kakutef7/default.px4board
+++ b/boards/holybro/kakutef7/default.px4board
@ -28,8 +28,8 @@ CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_SYSTEMCMDS_PARAM=y
--- a/boards/holybro/kakuteh7/default.px4board
+++ b/boards/holybro/kakuteh7/default.px4board
@ -55,13 +55,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
--- a/boards/holybro/kakuteh7v2/default.px4board
+++ b/boards/holybro/kakuteh7v2/default.px4board
@ -55,13 +55,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
--- a/boards/matek/h743-mini/default.px4board
+++ b/boards/matek/h743-mini/default.px4board
@ -45,10 +45,10 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
--- a/boards/matek/h743-slim/default.px4board
+++ b/boards/matek/h743-slim/default.px4board
@ -46,10 +46,10 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
--- a/boards/matek/h743/default.px4board
+++ b/boards/matek/h743/default.px4board
@ -47,10 +47,10 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
--- a/boards/modalai/fc-v1/default.px4board
+++ b/boards/modalai/fc-v1/default.px4board
@ -65,7 +65,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@ -74,6 +73,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
--- a/boards/modalai/fc-v2/default.px4board
+++ b/boards/modalai/fc-v2/default.px4board
@ -61,13 +61,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
--- a/boards/mro/ctrl-zero-classic/default.px4board
+++ b/boards/mro/ctrl-zero-classic/default.px4board
@ -60,7 +60,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@ -69,6 +68,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
--- a/boards/mro/ctrl-zero-h7-oem/default.px4board
+++ b/boards/mro/ctrl-zero-h7-oem/default.px4board
@ -58,7 +58,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@ -67,6 +66,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
--- a/boards/mro/ctrl-zero-h7/default.px4board
+++ b/boards/mro/ctrl-zero-h7/default.px4board
@ -59,7 +59,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@ -68,6 +67,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
--- a/boards/mro/pixracerpro/default.px4board
+++ b/boards/mro/pixracerpro/default.px4board
@ -58,7 +58,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@ -67,6 +66,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
--- a/boards/nxp/fmuk66-e/default.px4board
+++ b/boards/nxp/fmuk66-e/default.px4board
@ -63,13 +63,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
--- a/boards/nxp/fmuk66-v3/default.px4board
+++ b/boards/nxp/fmuk66-v3/default.px4board
@ -65,13 +65,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
--- a/boards/nxp/fmurt1062-v1/default.px4board
+++ b/boards/nxp/fmurt1062-v1/default.px4board
@ -46,10 +46,10 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
--- a/boards/omnibus/f4sd/default.px4board
+++ b/boards/omnibus/f4sd/default.px4board
@ -28,10 +28,10 @@ CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_PARAM=y
--- a/boards/px4/fmu-v3/default.px4board
+++ b/boards/px4/fmu-v3/default.px4board
@ -67,7 +67,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@ -76,6 +75,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
--- a/boards/px4/fmu-v4/default.px4board
+++ b/boards/px4/fmu-v4/default.px4board
@ -68,7 +68,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@ -77,6 +76,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
--- a/boards/px4/fmu-v4pro/default.px4board
+++ b/boards/px4/fmu-v4pro/default.px4board
@ -64,7 +64,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@ -73,6 +72,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
--- a/boards/px4/fmu-v5/default.px4board
+++ b/boards/px4/fmu-v5/default.px4board
@ -71,7 +71,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@ -80,6 +79,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
--- a/boards/px4/fmu-v5/uavcanv0periph.px4board
+++ b/boards/px4/fmu-v5/uavcanv0periph.px4board
@ -19,12 +19,12 @@ CONFIG_MODULES_ESC_BATTERY=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_MICRODDS_CLIENT=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
 CONFIG_MODULES_UUV_POS_CONTROL=n
+CONFIG_MODULES_UXRCE_DDS_CLIENT=n
 CONFIG_SYSTEMCMDS_BL_UPDATE=n
 CONFIG_SYSTEMCMDS_DUMPFILE=n
 CONFIG_SYSTEMCMDS_GPIO=n
--- a/boards/px4/fmu-v5x/default.px4board
+++ b/boards/px4/fmu-v5x/default.px4board
@ -73,7 +73,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
@ -81,6 +80,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
--- a/boards/px4/fmu-v6c/default.px4board
+++ b/boards/px4/fmu-v6c/default.px4board
@ -59,13 +59,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
--- a/boards/px4/fmu-v6u/default.px4board
+++ b/boards/px4/fmu-v6u/default.px4board
@ -63,13 +63,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
--- a/boards/px4/fmu-v6x/default.px4board
+++ b/boards/px4/fmu-v6x/default.px4board
@ -67,11 +67,11 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
--- a/boards/px4/sitl/default.px4board
+++ b/boards/px4/sitl/default.px4board
@ -36,7 +36,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
@ -48,6 +47,7 @@ CONFIG_MODULES_SIMULATION_GZ_BRIDGE=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
--- a/boards/sky-drones/smartap-airlink/default.px4board
+++ b/boards/sky-drones/smartap-airlink/default.px4board
@ -62,13 +62,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
--- a/boards/spracing/h7extreme/default.px4board
+++ b/boards/spracing/h7extreme/default.px4board
@ -36,10 +36,10 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
--- a/src/modules/microdds_client/Kconfig
+++ b/src/modules/microdds_client/Kconfig
@ -1,5 +0,0 @@
-menuconfig MODULES_MICRODDS_CLIENT
-	bool "microdds_client"
-	default n
-	---help---
-		Enable support for the MicroDDS Client
--- a/src/modules/uxrce_dds_client/CMakeLists.txt
+++ b/src/modules/uxrce_dds_client/CMakeLists.txt
@ -32,7 +32,7 @@
 ############################################################################

 if(${CMAKE_VERSION} VERSION_LESS "3.11")
-    message(WARNING "skipping microdds_client, Micro-XRCE-DDS-Client needs to be fixed to work with CMAKE_VERSION ${CMAKE_VERSION}")
+    message(WARNING "skipping uxrce_dds_client, Micro-XRCE-DDS-Client needs to be fixed to work with CMAKE_VERSION ${CMAKE_VERSION}")

 else()
 	px4_add_git_submodule(TARGET git_micro_xrce_dds_client PATH "${CMAKE_CURRENT_LIST_DIR}/Micro-XRCE-DDS-Client")
@ -130,8 +130,8 @@ else()
 	add_custom_target(topic_bridge_files DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/dds_topics.h)

 	px4_add_module(
-		MODULE modules__microdds_client
-		MAIN microdds_client
+		MODULE modules__uxrce_dds_client
+		MAIN uxrce_dds_client
 		STACK_MAIN 9000
 		INCLUDES
 			${CMAKE_CURRENT_SOURCE_DIR}
@ -140,8 +140,8 @@ else()
 			${MAX_CUSTOM_OPT_LEVEL}
 		SRCS
 			${CMAKE_CURRENT_BINARY_DIR}/dds_topics.h
-			microdds_client.cpp
-			microdds_client.h
+			uxrce_dds_client.cpp
+			uxrce_dds_client.h
 		DEPENDS
 			microxrceddsclient
 			libmicroxrceddsclient
--- a/src/modules/uxrce_dds_client/Kconfig
+++ b/src/modules/uxrce_dds_client/Kconfig
@ -0,0 +1,5 @@
+menuconfig MODULES_UXRCE_DDS_CLIENT
+	bool "uxrce_dds_client"
+	default n
+	---help---
+		Enable support for the UXRCE-DDS Client
--- a/src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
+++ b/src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
--- a/src/modules/uxrce_dds_client/dds_topics.h.em
+++ b/src/modules/uxrce_dds_client/dds_topics.h.em
--- a/src/modules/uxrce_dds_client/dds_topics.yaml
+++ b/src/modules/uxrce_dds_client/dds_topics.yaml
@ -1,6 +1,6 @@
 #####
 #
-# This file maps all the topics that are to be used on the micro DDS client.
+# This file maps all the topics that are to be used on the uXRCE-DDS client.
 #
 #####
 publications:
--- a/src/modules/uxrce_dds_client/generate_dds_topics.py
+++ b/src/modules/uxrce_dds_client/generate_dds_topics.py
@ -53,7 +53,7 @@ parser.add_argument("-t", "--template_file", dest='template_file', type=str,
                    help="DDS topics template file")

 parser.add_argument("-u", "--client-outdir", dest='clientdir', type=str,
-                    help="Client output dir, by default using relative path 'src/modules/microdds_client'", default=None)
+                    help="Client output dir, by default using relative path 'src/modules/uxrce_dds_client'", default=None)

 if len(sys.argv) <= 1:
    parser.print_usage()
--- a/src/modules/uxrce_dds_client/module.yaml
+++ b/src/modules/uxrce_dds_client/module.yaml
@ -1,36 +1,36 @@
-module_name: Micro XRCE-DDS
+module_name: UXRCE-DDS Client
 serial_config:
    - command: |
        if [ $SERIAL_DEV != ethernet ]; then
-            set XRCE_DDS_ARGS "-t serial -d ${SERIAL_DEV} -b p:${BAUD_PARAM}"
+            set UXRCE_DDS_ARGS "-t serial -d ${SERIAL_DEV} -b p:${BAUD_PARAM}"
        else
-            set XRCE_DDS_ARGS "-t udp"
+            set UXRCE_DDS_ARGS "-t udp"
        fi
-        microdds_client start ${XRCE_DDS_ARGS}
+        uxrce_dds_client start ${UXRCE_DDS_ARGS}

      port_config_param:
-        name: XRCE_DDS_CFG
-        group: Micro XRCE-DDS
+        name: UXRCE_DDS_CFG
+        group: UXRCE-DDS Client
      supports_networking: true

 parameters:
-    - group: Micro XRCE-DDS
+    - group: UXRCE-DDS Client
      definitions:

-        XRCE_DDS_DOM_ID:
+        UXRCE_DDS_DOM_ID:
            description:
-                short: XRCE DDS domain ID
-                long: XRCE DDS domain ID
+                short: uXRCE-DDS domain ID
+                long: uXRCE-DDS domain ID
            category: System
            type: int32
            reboot_required: true
            default: 0

-        XRCE_DDS_KEY:
+        UXRCE_DDS_KEY:
            description:
-                short: XRCE DDS Session key
+                short: uXRCE-DDS Session key
                long: |
-                    XRCE DDS key, must be different from zero.
+                    uXRCE-DDS key, must be different from zero.
                    In a single agent - multi client configuration, each client
                    must have a unique session key.
            category: System
@ -38,11 +38,11 @@ parameters:
            reboot_required: true
            default: 1

-        XRCE_DDS_PRT:
+        UXRCE_DDS_PRT:
            description:
-                short: Micro DDS UDP Port
+                short: uXRCE-DDS UDP Port
                long: |
-                    If ethernet enabled and selected as configuration for micro DDS,
+                    If ethernet enabled and selected as configuration for uXRCE-DDS,
                    selected udp port will be set and used.
            type: int32
            min: 0
@ -51,11 +51,11 @@ parameters:
            default: 8888
            requires_ethernet: true

-        XRCE_DDS_AG_IP:
+        UXRCE_DDS_AG_IP:
            description:
-                short: Micro DDS Agent IP address
+                short: uXRCE-DDS Agent IP address
                long: |
-                    If ethernet enabled and selected as configuration for micro DDS,
+                    If ethernet enabled and selected as configuration for uXRCE-DDS,
                    selected Agent IP address will be set and used.
                    Decimal dot notation is not supported. IP address must be provided
                    in int32 format. For example, 192.168.1.2 is mapped to -1062731518;
--- a/src/modules/uxrce_dds_client/utilities.hpp
+++ b/src/modules/uxrce_dds_client/utilities.hpp
--- a/src/modules/uxrce_dds_client/uxrce_dds_client.cpp
+++ b/src/modules/uxrce_dds_client/uxrce_dds_client.cpp
@ -35,7 +35,7 @@
 #include <px4_platform_common/cli.h>
 #include <px4_platform_common/posix.h>

-#include "microdds_client.h"
+#include "uxrce_dds_client.h"

 #include <uxr/client/client.h>
 #include <uxr/client/util/ping.h>
@ -47,7 +47,7 @@
 #include <unistd.h>

 #if defined(CONFIG_NET) || defined(__PX4_POSIX)
-# define MICRODDS_CLIENT_UDP 1
+# define UXRCE_DDS_CLIENT_UDP 1
 #endif

 #define STREAM_HISTORY  4
@ -79,7 +79,7 @@ void on_time(uxrSession *session, int64_t current_time, int64_t received_timesta
 	}
 }

-MicroddsClient::MicroddsClient(Transport transport, const char *device, int baudrate, const char *agent_ip,
+UxrceddsClient::UxrceddsClient(Transport transport, const char *device, int baudrate, const char *agent_ip,
 			       const char *port, bool localhost_only, bool custom_participant, const char *client_namespace) :
 	ModuleParams(nullptr),
 	_localhost_only(localhost_only), _custom_participant(custom_participant),
@ -120,7 +120,7 @@ MicroddsClient::MicroddsClient(Transport transport, const char *device, int baud

 	} else if (transport == Transport::Udp) {

-#if defined(MICRODDS_CLIENT_UDP)
+#if defined(UXRCE_DDS_CLIENT_UDP)
 		_transport_udp = new uxrUDPTransport();
 		strncpy(_port, port, PORT_MAX_LENGTH - 1);
 		strncpy(_agent_ip, agent_ip, AGENT_IP_MAX_LENGTH - 1);
@ -141,7 +141,7 @@ MicroddsClient::MicroddsClient(Transport transport, const char *device, int baud
 	}
 }

-MicroddsClient::~MicroddsClient()
+UxrceddsClient::~UxrceddsClient()
 {
 	delete _subs;
 	delete _pubs;
@ -157,7 +157,7 @@ MicroddsClient::~MicroddsClient()
 	}
 }

-void MicroddsClient::run()
+void UxrceddsClient::run()
 {
 	if (!_comm) {
 		PX4_ERR("init failed");
@ -386,7 +386,7 @@ void MicroddsClient::run()
 	}
 }

-int MicroddsClient::setBaudrate(int fd, unsigned baud)
+int UxrceddsClient::setBaudrate(int fd, unsigned baud)
 {
 	int speed;

@ -523,14 +523,14 @@ int MicroddsClient::setBaudrate(int fd, unsigned baud)
 	return 0;
 }

-int MicroddsClient::custom_command(int argc, char *argv[])
+int UxrceddsClient::custom_command(int argc, char *argv[])
 {
 	return print_usage("unknown command");
 }

-int MicroddsClient::task_spawn(int argc, char *argv[])
+int UxrceddsClient::task_spawn(int argc, char *argv[])
 {
-	_task_id = px4_task_spawn_cmd("microdds_client",
+	_task_id = px4_task_spawn_cmd("uxrce_dds_client",
 				      SCHED_DEFAULT,
 				      SCHED_PRIORITY_DEFAULT,
 				      PX4_STACK_ADJUSTED(10000),
@ -545,10 +545,10 @@ int MicroddsClient::task_spawn(int argc, char *argv[])
 	return 0;
 }

-int MicroddsClient::print_status()
+int UxrceddsClient::print_status()
 {
 	PX4_INFO("Running, %s", _connected ? "connected" : "disconnected");
-#if defined(MICRODDS_CLIENT_UDP)
+#if defined(UXRCE_DDS_CLIENT_UDP)

 	if (_transport_udp != nullptr) {
 		PX4_INFO("Using transport: udp");
@ -571,7 +571,7 @@ int MicroddsClient::print_status()
 	return 0;
 }

-MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
+UxrceddsClient *UxrceddsClient::instantiate(int argc, char *argv[])
 {
 	bool error_flag = false;
 	int myoptind = 1;
@ -581,7 +581,7 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
 	char port[PORT_MAX_LENGTH] = {0};
 	char agent_ip[AGENT_IP_MAX_LENGTH] = {0};

-#if defined(MICRODDS_CLIENT_UDP)
+#if defined(UXRCE_DDS_CLIENT_UDP)
 	Transport transport = Transport::Udp;
 #else
 	Transport transport = Transport::Serial;
@ -622,7 +622,7 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])

 			break;

-#if defined(MICRODDS_CLIENT_UDP)
+#if defined(UXRCE_DDS_CLIENT_UDP)

 		case 'h':
 			snprintf(agent_ip, AGENT_IP_MAX_LENGTH, "%s", myoptarg);
@ -639,7 +639,7 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
 		case 'c':
 			custom_participant = true;
 			break;
-#endif // MICRODDS_CLIENT_UDP
+#endif // UXRCE_DDS_CLIENT_UDP

 		case 'n':
 			client_namespace = myoptarg;
@ -656,12 +656,12 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
 		}
 	}

-#if defined(MICRODDS_CLIENT_UDP)
+#if defined(UXRCE_DDS_CLIENT_UDP)

 	if (port[0] == '\0') {
-		// no port specified, use XRCE_DDS_PRT
+		// no port specified, use UXRCE_DDS_PRT
 		int32_t port_i = 0;
-		param_get(param_find("XRCE_DDS_PRT"), &port_i);
+		param_get(param_find("UXRCE_DDS_PRT"), &port_i);

 		if (port_i < 0 || port_i > 65535) {
 			PX4_ERR("port must be between 0 and 65535");
@ -672,16 +672,16 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
 	}

 	if (agent_ip[0] == '\0') {
-		// no agent ip specified, use XRCE_DDS_AG_IP
+		// no agent ip specified, use UXRCE_DDS_AG_IP
 		int32_t ip_i = 0;
-		param_get(param_find("XRCE_DDS_AG_IP"), &ip_i);
+		param_get(param_find("UXRCE_DDS_AG_IP"), &ip_i);
 		snprintf(agent_ip, AGENT_IP_MAX_LENGTH, "%u.%u.%u.%u", static_cast<uint8_t>(((ip_i) >> 24) & 0xff),
 			 static_cast<uint8_t>(((ip_i) >> 16) & 0xff),
 			 static_cast<uint8_t>(((ip_i) >> 8) & 0xff),
 			 static_cast<uint8_t>(ip_i & 0xff));
 	}

-#endif // MICRODDS_CLIENT_UDP
+#endif // UXRCE_DDS_CLIENT_UDP

 	if (error_flag) {
 		return nullptr;
@ -694,11 +694,11 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
 		}
 	}

-	return new MicroddsClient(transport, device, baudrate, agent_ip, port, localhost_only, custom_participant,
+	return new UxrceddsClient(transport, device, baudrate, agent_ip, port, localhost_only, custom_participant,
 				  client_namespace);
 }

-int MicroddsClient::print_usage(const char *reason)
+int UxrceddsClient::print_usage(const char *reason)
 {
 	if (reason) {
 		PX4_WARN("%s\n", reason);
@ -707,20 +707,20 @@ int MicroddsClient::print_usage(const char *reason)
 	PRINT_MODULE_DESCRIPTION(
 		R"DESCR_STR(
 ### Description
-MicroDDS Client used to communicate uORB topics with an Agent over serial or UDP.
+UXRCE-DDS Client used to communicate uORB topics with an Agent over serial or UDP.

 ### Examples
-$ microdds_client start -t serial -d /dev/ttyS3 -b 921600
-$ microdds_client start -t udp -h 127.0.0.1 -p 15555
+$ uxrce_dds_client start -t serial -d /dev/ttyS3 -b 921600
+$ uxrce_dds_client start -t udp -h 127.0.0.1 -p 15555
 )DESCR_STR");

-	PRINT_MODULE_USAGE_NAME("microdds_client", "system");
+	PRINT_MODULE_USAGE_NAME("uxrce_dds_client", "system");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAM_STRING('t', "udp", "serial|udp", "Transport protocol", true);
 	PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "<file:dev>", "serial device", true);
 	PRINT_MODULE_USAGE_PARAM_INT('b', 0, 0, 3000000, "Baudrate (can also be p:<param_name>)", true);
-	PRINT_MODULE_USAGE_PARAM_STRING('h', nullptr, "<IP>", "Agent IP. If not provided, defaults to XRCE_DDS_AG_IP", true);
-	PRINT_MODULE_USAGE_PARAM_INT('p', -1, 0, 65535, "Agent listening port. If not provided, defaults to XRCE_DDS_PRT", true);
+	PRINT_MODULE_USAGE_PARAM_STRING('h', nullptr, "<IP>", "Agent IP. If not provided, defaults to UXRCE_DDS_AG_IP", true);
+	PRINT_MODULE_USAGE_PARAM_INT('p', -1, 0, 65535, "Agent listening port. If not provided, defaults to UXRCE_DDS_PRT", true);
 	PRINT_MODULE_USAGE_PARAM_FLAG('l', "Restrict to localhost (use in combination with ROS_LOCALHOST_ONLY=1)", true);
 	PRINT_MODULE_USAGE_PARAM_FLAG('c', "Use custom participant config (profile_name=\"px4_participant\")", true);
 	PRINT_MODULE_USAGE_PARAM_STRING('n', nullptr, nullptr, "Client DDS namespace", true);
@ -729,7 +729,7 @@ $ microdds_client start -t udp -h 127.0.0.1 -p 15555
 	return 0;
 }

-extern "C" __EXPORT int microdds_client_main(int argc, char *argv[])
+extern "C" __EXPORT int uxrce_dds_client_main(int argc, char *argv[])
 {
-	return MicroddsClient::main(argc, argv);
+	return UxrceddsClient::main(argc, argv);
 }
--- a/src/modules/uxrce_dds_client/uxrce_dds_client.h
+++ b/src/modules/uxrce_dds_client/uxrce_dds_client.h
@ -36,11 +36,11 @@
 #include <px4_platform_common/module.h>
 #include <px4_platform_common/module_params.h>

-#include <src/modules/microdds_client/dds_topics.h>
+#include <src/modules/uxrce_dds_client/dds_topics.h>

 #include <lib/timesync/Timesync.hpp>

-class MicroddsClient : public ModuleBase<MicroddsClient>, public ModuleParams
+class UxrceddsClient : public ModuleBase<UxrceddsClient>, public ModuleParams
 {
 public:
 	enum class Transport {
@ -48,16 +48,16 @@ public:
 		Udp
 	};

-	MicroddsClient(Transport transport, const char *device, int baudrate, const char *host, const char *port,
+	UxrceddsClient(Transport transport, const char *device, int baudrate, const char *host, const char *port,
 		       bool localhost_only, bool custom_participant, const char *client_namespace);

-	~MicroddsClient();
+	~UxrceddsClient();

 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);

 	/** @see ModuleBase */
-	static MicroddsClient *instantiate(int argc, char *argv[]);
+	static UxrceddsClient *instantiate(int argc, char *argv[]);

 	/** @see ModuleBase */
 	static int custom_command(int argc, char *argv[]);
@ -104,8 +104,7 @@ private:
 	Timesync _timesync{timesync_status_s::SOURCE_PROTOCOL_DDS};

 	DEFINE_PARAMETERS(
-		(ParamInt<px4::params::XRCE_DDS_DOM_ID>) _param_xrce_dds_dom_id,
-		(ParamInt<px4::params::XRCE_DDS_KEY>) _param_xrce_key
+		(ParamInt<px4::params::UXRCE_DDS_DOM_ID>) _param_xrce_dds_dom_id,
+		(ParamInt<px4::params::UXRCE_DDS_KEY>) _param_xrce_key
 	)
 };
-