diff --git a/msg/templates/urtps/Publisher.cpp.template b/msg/templates/urtps/Publisher.cpp.template
index 77125c08dd9c84940161dfec69f74c2837c39772..4a5fb589a4d20547ff29099c911d74de04084918 100644
--- a/msg/templates/urtps/Publisher.cpp.template
+++ b/msg/templates/urtps/Publisher.cpp.template
@@ -48,7 +48,7 @@ topic = spec.short_name
*
****************************************************************************/
-/*!
+/*!
* @@file @(topic)_Publisher.cpp
* This file contains the implementation of the publisher functions.
*
@@ -74,26 +74,26 @@ topic = spec.short_name
bool @(topic)_Publisher::init()
{
// Create RTPSParticipant
-
+
ParticipantAttributes PParam;
PParam.rtps.builtin.domainId = 0;
PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
- PParam.rtps.setName("Participant_publisher"); //You can put here the name you want
+ PParam.rtps.setName("@(topic)_publisher"); //You can put here the name you want
mp_participant = Domain::createParticipant(PParam);
if(mp_participant == nullptr)
return false;
-
+
//Register the type
-
- Domain::registerType(mp_participant,(TopicDataType*) &myType);
-
+
+ Domain::registerType(mp_participant, (TopicDataType*) &myType);
+
// Create Publisher
-
+
PublisherAttributes Wparam;
Wparam.topic.topicKind = NO_KEY;
Wparam.topic.topicDataType = myType.getName(); //This type MUST be registered
- Wparam.topic.topicName = "@(topic)_PubSubTopic";
- mp_publisher = Domain::createPublisher(mp_participant,Wparam,(PublisherListener*)&m_listener);
+ Wparam.topic.topicName = "@(topic)";
+ mp_publisher = Domain::createPublisher(mp_participant, Wparam, (PublisherListener*) &m_listener);
if(mp_publisher == nullptr)
return false;
//std::cout << "Publisher created, waiting for Subscribers." << std::endl;
@@ -120,13 +120,13 @@ void @(topic)_Publisher::run()
{
eClock::my_sleep(250); // Sleep 250 ms
}
-
+
// Publication code
-
+
@(topic)_ st;
-
+
/* Initialize your structure here */
-
+
int msgsent = 0;
char ch = 'y';
do
diff --git a/msg/templates/urtps/Publisher.h.template b/msg/templates/urtps/Publisher.h.template
index 6776562442e9719661628676a0ef8ab4feb37901..368b397d6aa638408f4d7f9573f172b970337f77 100644
--- a/msg/templates/urtps/Publisher.h.template
+++ b/msg/templates/urtps/Publisher.h.template
@@ -48,7 +48,7 @@ topic = spec.short_name
*
****************************************************************************/
-/*!
+/*!
* @@file @(topic)_Publisher.h
* This header file contains the declaration of the publisher functions.
*
@@ -65,8 +65,9 @@ topic = spec.short_name
#include "@(topic)_PubSubTypes.h"
using namespace eprosima::fastrtps;
+using namespace eprosima::fastrtps::rtps;
-class @(topic)_Publisher
+class @(topic)_Publisher
{
public:
@(topic)_Publisher();
@@ -77,16 +78,16 @@ public:
private:
Participant *mp_participant;
Publisher *mp_publisher;
-
+
class PubListener : public PublisherListener
{
public:
PubListener() : n_matched(0){};
~PubListener(){};
- void onPublicationMatched(Publisher* pub,MatchingInfo& info);
+ void onPublicationMatched(Publisher* pub, MatchingInfo& info);
int n_matched;
} m_listener;
@(topic)_PubSubType myType;
};
-#endif // _@(topic)__PUBLISHER_H_
\ No newline at end of file
+#endif // _@(topic)__PUBLISHER_H_
diff --git a/msg/templates/urtps/Subscriber.cpp.template b/msg/templates/urtps/Subscriber.cpp.template
index 686943d93f57785f133258f4892fd4deb892332b..bb6f5f1523ca80eeee8ec5e0bd21714c245125fd 100644
--- a/msg/templates/urtps/Subscriber.cpp.template
+++ b/msg/templates/urtps/Subscriber.cpp.template
@@ -48,7 +48,7 @@ topic = spec.short_name
*
****************************************************************************/
-/*!
+/*!
* @@file @(topic)_Subscriber.cpp
* This file contains the implementation of the subscriber functions.
*
@@ -72,26 +72,26 @@ topic = spec.short_name
bool @(topic)_Subscriber::init()
{
// Create RTPSParticipant
-
+
ParticipantAttributes PParam;
PParam.rtps.builtin.domainId = 0; //MUST BE THE SAME AS IN THE PUBLISHER
PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
- PParam.rtps.setName("Participant_subscriber"); //You can put the name you want
+ PParam.rtps.setName("@(topic)_subscriber"); //You can put the name you want
mp_participant = Domain::createParticipant(PParam);
if(mp_participant == nullptr)
return false;
-
+
//Register the type
-
- Domain::registerType(mp_participant,(TopicDataType*) &myType);
-
+
+ Domain::registerType(mp_participant, (TopicDataType*) &myType);
+
// Create Subscriber
-
+
SubscriberAttributes Rparam;
Rparam.topic.topicKind = NO_KEY;
Rparam.topic.topicDataType = myType.getName(); //Must be registered before the creation of the subscriber
- Rparam.topic.topicName = "@(topic)_PubSubTopic";
- mp_subscriber = Domain::createSubscriber(mp_participant,Rparam,(SubscriberListener*)&m_listener);
+ Rparam.topic.topicName = "@(topic)";
+ mp_subscriber = Domain::createSubscriber(mp_participant, Rparam, (SubscriberListener*) &m_listener);
if(mp_subscriber == nullptr)
return false;
return true;
@@ -143,4 +143,4 @@ bool @(topic)_Subscriber::hasMsg()
{
m_listener.has_msg = false;
return m_listener.msg;
-}
\ No newline at end of file
+}
diff --git a/msg/templates/urtps/Subscriber.h.template b/msg/templates/urtps/Subscriber.h.template
index efff2c752fbc65650bec9d54bf5d23c2302bfa7d..d0099418b08a7561c4308b3116e257bc10615ee5 100644
--- a/msg/templates/urtps/Subscriber.h.template
+++ b/msg/templates/urtps/Subscriber.h.template
@@ -48,7 +48,7 @@ topic = spec.short_name
*
****************************************************************************/
-/*!
+/*!
* @@file @(topic)_Subscriber.h
* This header file contains the declaration of the subscriber functions.
*
@@ -65,8 +65,9 @@ topic = spec.short_name
#include "@(topic)_PubSubTypes.h"
using namespace eprosima::fastrtps;
+using namespace eprosima::fastrtps::rtps;
-class @(topic)_Subscriber
+class @(topic)_Subscriber
{
public:
@(topic)_Subscriber();
@@ -78,13 +79,13 @@ public:
private:
Participant *mp_participant;
Subscriber *mp_subscriber;
-
+
class SubListener : public SubscriberListener
{
public:
- SubListener() : n_matched(0),n_msg(0){};
+ SubListener() : n_matched(0), n_msg(0){};
~SubListener(){};
- void onSubscriptionMatched(Subscriber* sub,MatchingInfo& info);
+ void onSubscriptionMatched(Subscriber* sub, MatchingInfo& info);
void onNewDataMessage(Subscriber* sub);
SampleInfo_t m_info;
int n_matched;
@@ -96,4 +97,4 @@ private:
@(topic)_PubSubType myType;
};
-#endif // _@(topic)__SUBSCRIBER_H_
\ No newline at end of file
+#endif // _@(topic)__SUBSCRIBER_H_
diff --git a/msg/templates/urtps/microRTPS_agent.cpp.template b/msg/templates/urtps/microRTPS_agent.cpp.template
index 54f7316c8570188c0819adc1f33211c4013dd487..62ac2e855fbb4b23ba260225da0091ac84198112 100644
--- a/msg/templates/urtps/microRTPS_agent.cpp.template
+++ b/msg/templates/urtps/microRTPS_agent.cpp.template
@@ -194,7 +194,7 @@ void t_send(void *data)
// Send subscribed topics over UART
while (topics.hasMsg(&topic_ID))
{
- uint16_t header_length = get_header_length();
+ uint16_t header_length = transport_node->get_header_length();
/* make room for the header to fill in later */
eprosima::fastcdr::FastBuffer cdrbuffer(&data_buffer[header_length], sizeof(data_buffer)-header_length);
eprosima::fastcdr::Cdr scdr(cdrbuffer);
diff --git a/src/modules/systemlib/system_params.c b/src/modules/systemlib/system_params.c
index 702972c19f1de8716ff35202c65ea43b19427e07..01ed58b358481b9f68c10aa20c5bb99ddddb3fa9 100644
--- a/src/modules/systemlib/system_params.c
+++ b/src/modules/systemlib/system_params.c
@@ -134,7 +134,7 @@ PARAM_DEFINE_INT32(SYS_MC_EST_GROUP, 2);
* @value 1921600 ESP8266 (921600 baud, 8N1)
*
* @min 0
- * @max 1921600
+ * @max 6460800
* @reboot_required true
* @group System
*/