ROBOTIS-GIT · OpusK · May 26, 2020 · May 26, 2020 · May 26, 2020
diff --git a/README.md b/README.md
@@ -9,7 +9,7 @@ Arduino library for communicating with ROS2(DDS)
 
 |ros2arduino|ROS2|Micro-XRCE-DDS Agent|
 |:-:|:-:|:-:|
-|0.2.0|[Dashing Diademata Patch6](https://github.com/ros2/ros2/releases/tag/release-dashing-20200319)|[1.3.0](https://github.com/eProsima/Micro-XRCE-DDS-Agent/releases/tag/v1.3.0)|
+|0.2.1|[Dashing Diademata Patch6](https://github.com/ros2/ros2/releases/tag/release-dashing-20200319)|[1.3.0](https://github.com/eProsima/Micro-XRCE-DDS-Agent/releases/tag/v1.3.0)|
 
 For the Micro-XRCE-DDS Agent, please install it using following commands.
 ```bash
@@ -27,7 +27,7 @@ $ sudo ldconfig /usr/local/lib/
 
 |ros2arduino|ROS2|Micro-XRCE-DDS Agent|
 |:-:|:-:|:-:|
-|0.2.0|[Dashing Diademata Patch6](https://github.com/ros2/ros2/releases/tag/release-dashing-20200319)|[1.3.0](https://github.com/eProsima/Micro-XRCE-DDS-Agent/releases/tag/v1.3.0)|
+|0.2.1|[Dashing Diademata Patch6](https://github.com/ros2/ros2/releases/tag/release-dashing-20200319)|[1.3.0](https://github.com/eProsima/Micro-XRCE-DDS-Agent/releases/tag/v1.3.0)|
 |0.1.4|[Dashing Diademata Patch3](https://github.com/ros2/ros2/releases/tag/release-dashing-20190910)|[1.1.0](https://github.com/eProsima/Micro-XRCE-DDS-Agent/releases/tag/v1.1.0)|
 |0.1.3|[Dashing Diademata Patch3](https://github.com/ros2/ros2/releases/tag/release-dashing-20190910)|[1.1.0](https://github.com/eProsima/Micro-XRCE-DDS-Agent/releases/tag/v1.1.0)|
 |0.1.2|[Dashing Diademata Patch1](https://github.com/ros2/ros2/releases/tag/release-dashing-20190614)|[1.1.0](https://github.com/eProsima/Micro-XRCE-DDS-Agent/releases/tag/v1.1.0)|
@@ -80,7 +80,7 @@ You must install ROS2 and XRCE-DDS Agent. (The version should be the same as the
 
 - Please refer to [eProsima manual](https://micro-xrce-dds.readthedocs.io/en/latest/agent.html) for Micro-XRCE-DDS-Agent usage.
 
-- 0.2.0 or above (Micro-XRCE-DDS-Agent 1.3.0)
+- 0.2.1 or above (Micro-XRCE-DDS-Agent 1.3.0)
   - Serial
     ```bash
     $ MicroXRCEAgent serial --dev /dev/ttyACM0 -b 115200
@@ -133,8 +133,6 @@ $ ros2 topic echo /arduino_chatter
 	```cpp
 	#define UXR_CREATE_ENTITIES_USING_REF 1
 	``` 
-  - ros2arduino 0.2.0 or above.
-    - Set `UXR_CREATE_ENTITIES_USING_REF` to `1` in your sketch. (eg. [basic examples](https://github.com/ROBOTIS-GIT/ros2arduino/blob/master/examples/publisher/user_config.h))
   - ros2arduino 0.1.1 ~ 0.1.4
     - You need to change the settings(library code) in ros2arduino library. (In the [user_config.h](https://github.com/ROBOTIS-GIT/ros2arduino/blob/master/src/user_config.h))
 

diff --git a/examples/publisher_ethernet_tcp/publisher_ethernet_tcp.ino b/examples/publisher_ethernet_tcp/publisher_ethernet_tcp.ino
@@ -1,4 +1,3 @@
-#include "user_config.h" // It must be located above ros2arduino.h.
 #include <ros2arduino.h>
 
 #include <Ethernet.h>

diff --git a/examples/publisher_ethernet_udp/publisher_ethernet_udp.ino b/examples/publisher_ethernet_udp/publisher_ethernet_udp.ino
@@ -1,4 +1,3 @@
-#include "user_config.h" // It must be located above ros2arduino.h.
 #include <ros2arduino.h>
 
 #include <Ethernet.h>

diff --git a/examples/publisher_ethernet_udp/user_config.h b/examples/publisher_ethernet_udp/user_config.h
diff --git a/examples/publisher_wifi_tcp/publisher_wifi_tcp.ino b/examples/publisher_wifi_tcp/publisher_wifi_tcp.ino
@@ -1,4 +1,3 @@
-#include "user_config.h" // It must be located above ros2arduino.h.
 #include <ros2arduino.h>
 
 #include <WiFi.h>

diff --git a/examples/publisher_wifi_tcp/user_config.h b/examples/publisher_wifi_tcp/user_config.h
diff --git a/examples/publisher_wifi_udp/publisher_wifi_udp.ino b/examples/publisher_wifi_udp/publisher_wifi_udp.ino
@@ -1,4 +1,3 @@
-#include "user_config.h" // It must be located above ros2arduino.h.
 #include <ros2arduino.h>
 
 #include <WiFi.h>

diff --git a/examples/subscriber/subscriber.ino b/examples/subscriber/subscriber.ino
@@ -1,4 +1,3 @@
-#include "user_config.h" // It must be located above ros2arduino.h.
 #include <ros2arduino.h>
 
 #ifndef LED_BUILTIN // To support some boards (eg. some esp32 boards)

diff --git a/examples/subscriber/user_config.h b/examples/subscriber/user_config.h
diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=ros2arduino
-version=0.2.0
+version=0.2.1
 author=ROBOTIS
 license=Apache-2.0
 maintainer=Kei([email protected])

diff --git a/src/ros2/topic.hpp b/src/ros2/topic.hpp
@@ -10,7 +10,6 @@
 
 #include <stdlib.h>
 #include "xrcedds/xrcedds.hpp"
-#include "xrcedds/micro_xrce_dds/micro_xrce_dds.h"
 #include "topic_id_number.h"
 
 namespace ros2 {

diff --git a/src/ros2/xrcedds/xrcedds.cpp b/src/ros2/xrcedds/xrcedds.cpp
@@ -12,9 +12,6 @@
 
 //-- Internal Variables for UXR
 //
-#include "micro_xrce_dds/micro_xrce_dds.h"
-
-
 #ifdef UXR_CREATE_BUFFER_BEST_EFFORT
 #define BUFFER_SIZE    4096
 static uint8_t output_best_effort_stream_buffer[BUFFER_SIZE * UXR_CONFIG_MAX_OUTPUT_BEST_EFFORT_STREAMS];

diff --git a/src/ros2/xrcedds/xrcedds.hpp b/src/ros2/xrcedds/xrcedds.hpp
@@ -9,6 +9,7 @@
 #define XRCEDDS_HPP_
 
 #include <stdint.h>
+#include "micro_xrce_dds/micro_xrce_dds.h"
 
 namespace xrcedds {
 

diff --git a/...ples/publisher_ethernet_tcp/user_config.h → src/user_config.h b/...ples/publisher_ethernet_tcp/user_config.h → src/user_config.h
@@ -1,5 +1,5 @@
-#ifndef SKETCH_USER_CONFIG_H_
-#define SKETCH_USER_CONFIG_H_
+#ifndef ROS2ARDUINO_USER_CONFIG_H_
+#define ROS2ARDUINO_USER_CONFIG_H_
 
 /** 
  * Select to enable eProsima's Micro-XRCE-DDS reference function.
@@ -11,15 +11,17 @@
 /* The options below are needed to reduce the usage of static memory */
 
 // Select only one communication method you wish to use.
-// options: USER_TRANSPORT_TYPE_UDP, USER_TRANSPORT_TYPE_TCP, USER_TRANSPORT_TYPE_SERIAL
-#define USER_TRANSPORT_TYPE   USER_TRANSPORT_TYPE_TCP
+// options: UDP:    0
+//          TCP:    1
+//          SERIAL: 2
+// #define USER_TRANSPORT_TYPE   0
 
 // Set the MTU of the transport.
 #define USER_TRANSPORT_MTU    2048
 
 // Set the maximum number of Pub/Subs to be created on the node.
-#define USER_ROS2_PUBLISHER_MAX  5 
-#define USER_ROS2_SUBSCRIBER_MAX 5
+#define USER_ROS2_PUBLISHER_MAX  10 
+#define USER_ROS2_SUBSCRIBER_MAX 10
 
 
-#endif /* SKETCH_USER_CONFIG_H_ */
+#endif /* ROS2ARDUINO_USER_CONFIG_H_ */
diff --git a/src/uxr/client/config.h b/src/uxr/client/config.h
@@ -15,24 +15,33 @@
 #ifndef _UXR_CLIENT_CONFIG_H_
 #define _UXR_CLIENT_CONFIG_H_
 
+#include <user_config.h>
+
+#define USER_TRANSPORT_TYPE_UDP    0
+#define USER_TRANSPORT_TYPE_TCP    1
+#define USER_TRANSPORT_TYPE_SERIAL 2
 
 #define UXR_CLIENT_VERSION_MAJOR 1
 #define UXR_CLIENT_VERSION_MINOR 2
 #define UXR_CLIENT_VERSION_MICRO 1
 #define UXR_CLIENT_VERSION_STR "1.2.1"
 
 // related to user definition in sketch file (.ino)
-#if defined(USER_TRANSPORT_TYPE) && (USER_TRANSPORT_TYPE == USER_TRANSPORT_TYPE_UDP)
+#if defined(USER_TRANSPORT_TYPE)
+#if (USER_TRANSPORT_TYPE == USER_TRANSPORT_TYPE_UDP)
 #define PROFILE_UDP_TRANSPORT
-#elif defined(USER_TRANSPORT_TYPE) && (USER_TRANSPORT_TYPE == USER_TRANSPORT_TYPE_TCP)
+#elif (USER_TRANSPORT_TYPE == USER_TRANSPORT_TYPE_TCP)
 #define PROFILE_TCP_TRANSPORT
-#elif defined(USER_TRANSPORT_TYPE) && (USER_TRANSPORT_TYPE == USER_TRANSPORT_TYPE_SERIAL)
+#elif (USER_TRANSPORT_TYPE == USER_TRANSPORT_TYPE_SERIAL)
 #define PROFILE_SERIAL_TRANSPORT
+#else
+#error "Please enter a valid transport number (USER_TRANSPORT_TYPE, refer to user_config.h in examples.)"
+#endif
 #else //To support legacy
 #define PROFILE_UDP_TRANSPORT
 #define PROFILE_TCP_TRANSPORT
 #define PROFILE_SERIAL_TRANSPORT
-#endif
+#endif /* USER_TRANSPORT_TYPE */
 
 #if !defined(USER_ROS2_PUBLISHER_MAX)
 #define USER_ROS2_PUBLISHER_MAX  5

diff --git a/src/uxr/client/profile/transport/ip/tcp/tcp_transport_arduino.c b/src/uxr/client/profile/transport/ip/tcp/tcp_transport_arduino.c
@@ -11,7 +11,7 @@ bool uxr_init_tcp_platform(struct uxrTCPPlatform* platform, uxrIpProtocol ip_pro
   if(ip_protocol != UXR_IPv4){
     return false;
   }
-  return uxr_connectTcpArduino(platform->client_instance, ip, (uint16_t)strtol(port, str_ptr, 10));
+  return uxr_connectTcpArduino(platform->client_instance, ip, (uint16_t)strtol(port, &str_ptr, 10));
 }
 
 bool uxr_close_tcp_platform(struct uxrTCPPlatform* platform)

diff --git a/src/uxr/client/profile/transport/ip/tcp/tcp_transport_external.h b/src/uxr/client/profile/transport/ip/tcp/tcp_transport_external.h
@@ -3,8 +3,6 @@
 
 #include <uxr/client/config.h>
 
-#if defined(UCLIENT_EXTERNAL_TCP)
-
 #ifdef __cplusplus
 extern "C"
 {
@@ -20,6 +18,4 @@ typedef struct uxrTCPPlatform
 }
 #endif
 
-#endif //UCLIENT_EXTERNAL_TCP
-
 #endif // UXR_CLIENT_PROFILE_TRANSPORT_IP_TCP_EXTERNAL_H_
diff --git a/src/uxr/client/profile/transport/ip/udp/udp_transport_arduino.c b/src/uxr/client/profile/transport/ip/udp/udp_transport_arduino.c
@@ -11,7 +11,7 @@ bool uxr_init_udp_platform(struct uxrUDPPlatform* platform, uxrIpProtocol ip_pro
   if(ip_protocol != UXR_IPv4){
     return false;
   }
-  return uxr_initUdpArduino(platform->udp_instance, ip, (uint16_t)strtol(port, str_ptr, 10));
+  return uxr_initUdpArduino(platform->udp_instance, ip, (uint16_t)strtol(port, &str_ptr, 10));
 }
 
 bool uxr_close_udp_platform(uxrUDPPlatform* platform)

diff --git a/src/uxr/client/profile/transport/ip/udp/udp_transport_external.h b/src/uxr/client/profile/transport/ip/udp/udp_transport_external.h
@@ -3,8 +3,6 @@
 
 #include <uxr/client/config.h>
 
-#if defined(UCLIENT_EXTERNAL_UDP)
-
 #ifdef __cplusplus
 extern "C"
 {
@@ -21,6 +19,4 @@ typedef struct uxrUDPPlatform
 }
 #endif
 
-#endif //UCLIENT_EXTERNAL_UDP
-
 #endif // UXR_CLIENT_PROFILE_TRANSPORT_IP_UDP_EXTERNAL_H_
diff --git a/src/uxr/client/profile/transport/serial/serial_transport_external.h b/src/uxr/client/profile/transport/serial/serial_transport_external.h
@@ -2,7 +2,6 @@
 #define UXR_CLIENT_PROFILE_TRANSPORT_SERIAL_EXTERNAL_H_
 
 #include <uxr/client/config.h>
-#if defined(UCLIENT_EXTERNAL_SERIAL)
 
 #ifdef __cplusplus
 extern "C"
@@ -21,6 +20,4 @@ typedef struct uxrSerialPlatform
 }
 #endif
 
-#endif //UCLIENT_EXTERNAL_SERIAL
-
 #endif // UXR_CLIENT_PROFILE_TRANSPORT_SERIAL_EXTERNAL_H_