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Hello @bvaningen, both approaches will provide you the same micro-ROS API. The idea of having multiple approaches (Arduino, RTOS, STM32Cube...) is intended to ease the integration of micro-ROS in the platform where the developer is used to work.

In general using the RTOS approach will allow you to use the RTOS functionality and drivers, for example in Zephyr you have a bunch of drivers ready to be used.

Let us know if you have any problems using the library. Thanks!

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