micro-ROS foxy Library auto-update 14-09-2021 06:17 (#477)

Co-authored-by: pablogs9 <pablogs9@users.noreply.github.com>

Author: github-actions[bot]

built_packages

@@ -24,7 +24,7 @@ https://github.com/micro-ROS/rosidl_typesupport.git 5d974dbee4cd6988ce33923246eb
 https://github.com/micro-ROS/micro_ros_msgs.git e3664463e78ae5d0c34d86be92d707b3d9dfd27d
 https://github.com/ros2/rclc 0f37874c44cf529d11f6c8f37a37693dd0ec8a1a
 https://github.com/micro-ROS/rcutils 4213addd56ca84bd37f1d418efb2becc1f2096db
-https://github.com/micro-ROS/rmw-microxrcedds.git a1b6a3a67b06a0278d29691a23482d3053466b5a
+https://github.com/micro-ROS/rmw-microxrcedds.git 9b577d885cdb48344f9cae1c078a231c06026227
 https://github.com/ros2/ament_cmake_ros.git 7b6b599c3fc8023806db2a97b344e8610902adac
 https://github.com/ament/ament_package.git 3397bb0ae1cc93d93e1e27da31c0bcb0f4fe0f46
 https://github.com/ament/ament_lint.git 418a69c7e0f922adc889ac1bc2a7dcf721bf7060

src/rmw_microros/rmw_microros.h

@@ -26,7 +26,7 @@
 #include <rmw_microros/time_sync.h>
 #include <rmw_microros/ping.h>
 
-#ifdef RMW_UXRCE_TRANSPORT_UDP
+#if defined(RMW_UXRCE_TRANSPORT_UDP) || defined(RMW_UXRCE_TRANSPORT_TCP)
 #include <rmw_microros/discovery.h>
 #endif  // RMW_UXRCE_TRANSPORT_UDP
 
@@ -51,7 +51,7 @@ typedef struct rmw_uxrce_transport_params_t
 {
 #if defined(RMW_UXRCE_TRANSPORT_SERIAL)
   char serial_device[MAX_SERIAL_DEVICE];
-#elif defined(RMW_UXRCE_TRANSPORT_UDP)
+#elif defined(RMW_UXRCE_TRANSPORT_UDP) || defined(RMW_UXRCE_TRANSPORT_TCP)
   char agent_address[MAX_IP_LEN];
   char agent_port[MAX_PORT_LEN];
 #elif defined(RMW_UXRCE_TRANSPORT_CUSTOM)

src/rmw_microxrcedds_c/config.h

@@ -4,6 +4,7 @@
 #include <uxr/client/config.h>
 
 /* #undef RMW_UXRCE_TRANSPORT_UDP */
+/* #undef RMW_UXRCE_TRANSPORT_TCP */
 /* #undef RMW_UXRCE_TRANSPORT_SERIAL */
 #define RMW_UXRCE_TRANSPORT_CUSTOM
 /* #undef RMW_UXRCE_TRANSPORT_IPV4 */
@@ -14,8 +15,12 @@
 
 #ifdef RMW_UXRCE_TRANSPORT_UDP
     #define RMW_UXRCE_MAX_TRANSPORT_MTU UXR_CONFIG_UDP_TRANSPORT_MTU
-    #define RMW_UXRCE_DEFAULT_UDP_IP ""
-    #define RMW_UXRCE_DEFAULT_UDP_PORT ""
+    #define RMW_UXRCE_DEFAULT_IP ""
+    #define RMW_UXRCE_DEFAULT_PORT ""
+#elif defined(RMW_UXRCE_TRANSPORT_TCP)
+    #define RMW_UXRCE_MAX_TRANSPORT_MTU UXR_CONFIG_TCP_TRANSPORT_MTU
+    #define RMW_UXRCE_DEFAULT_IP ""
+    #define RMW_UXRCE_DEFAULT_PORT ""
 #elif defined(RMW_UXRCE_TRANSPORT_SERIAL)
     #define RMW_UXRCE_MAX_TRANSPORT_MTU UXR_CONFIG_SERIAL_TRANSPORT_MTU
     #define RMW_UXRCE_DEFAULT_SERIAL_DEVICE ""