Fix external transport example (#39)

* Initial

* Revert "Add external transport example (#37)"

This reverts commit ca78714.

* Fix

* Update

Author: pablogs9

rclc/CMakeLists.txt

@@ -52,7 +52,7 @@ export_executable(timer)
 export_executable(string_publisher)
 export_executable(string_subscriber)
 export_executable(autodiscover_agent)
-export_executable(configuration_example custom_transports)
+# export_executable(configuration_example custom_transports)
 
 if(EXISTS ${CMAKE_BINARY_DIR}/temp_install/)
     install(

rclc/configuration_example/configured_publisher/CMakeLists.txt

@@ -7,20 +7,14 @@ find_package(rcl REQUIRED)
 find_package(rclc REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(rmw_microxrcedds REQUIRED)
-find_package(microxrcedds_client REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-target_link_libraries(${PROJECT_NAME}
-  microxrcedds_client
-)
-
 ament_target_dependencies(${PROJECT_NAME}
   rcl
   rclc
   std_msgs
   rmw_microxrcedds
-  microxrcedds_client
   )
 
 install(TARGETS ${PROJECT_NAME}

rclc/configuration_example/configured_publisher/main.c

@@ -43,18 +43,16 @@ int main(int argc, char * const argv[])
 	RCCHECK(rmw_uros_options_set_udp_address(argv[1], argv[2], rmw_options))
 	RCCHECK(rmw_uros_options_set_client_key(0xCAFEBABA, rmw_options))
 
-	size_t domain_id = (size_t)(argc == 4 ? atoi(argv[3]) : 0);
-	const char * node_name = "int32_configured_publisher_rclc";
-
-	rcl_init_options_set_domain_id(&init_options, domain_id);
-	printf("Initializing RCL '%s' with ROS Domain ID %ld...\n", node_name, domain_id);
-
 	// create init_options
 	RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));
 
 	// create node
 	rcl_node_t node = rcl_get_zero_initialized_node();
-	RCCHECK(rclc_node_init_default(&node, node_name, "", &support));
+	rcl_node_options_t node_ops = rcl_node_get_default_options();
+	node_ops.domain_id = (size_t)(argc == 4 ? atoi(argv[3]) : 0);
+	const char * node_name = "int32_configured_publisher_rclc";
+	printf("Initializing node '%s' with ROS Domain ID %ld...\n",node_name, node_ops.domain_id);
+	RCCHECK(rclc_node_init_with_options(&node, node_name, "", &support, &node_ops));
 
 	// create publisher
 	RCCHECK(rclc_publisher_init_default(

rclc/configuration_example/configured_subscriber/CMakeLists.txt

@@ -7,20 +7,14 @@ find_package(rcl REQUIRED)
 find_package(rclc REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(rmw_microxrcedds REQUIRED)
-find_package(microxrcedds_client REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
-target_link_libraries(${PROJECT_NAME}
-  microxrcedds_client
-)
-
 ament_target_dependencies(${PROJECT_NAME}
   rcl
   rclc
   std_msgs
   rmw_microxrcedds
-  microxrcedds_client
   )
 
 install(TARGETS ${PROJECT_NAME}

rclc/configuration_example/configured_subscriber/main.c

@@ -39,18 +39,16 @@ int main(int argc, const char * const * argv)
 	RCCHECK(rmw_uros_options_set_udp_address(argv[1], argv[2], rmw_options))
 	RCCHECK(rmw_uros_options_set_client_key(0xCAFEBABE, rmw_options))
 
-	size_t domain_id = (size_t)(argc == 4 ? atoi(argv[3]) : 0);
-	const char * node_name = "int32_configured_subscriber_rclc";
-
-	rcl_init_options_set_domain_id(&init_options, domain_id);
-	printf("Initializing RCL '%s' with ROS Domain ID %ld...\n", node_name, domain_id);
-
 	// create init_options
 	RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));
 
 	// create node
 	rcl_node_t node = rcl_get_zero_initialized_node();
-	RCCHECK(rclc_node_init_default(&node, node_name, "", &support));
+	rcl_node_options_t node_ops = rcl_node_get_default_options();
+	node_ops.domain_id = (size_t)(argc == 4 ? atoi(argv[3]) : 0);
+	const char * node_name = "int32_configured_subscriber_rclc";
+	printf("Initializing node '%s' with ROS Domain ID %ld...\n", node_name, node_ops.domain_id);
+	RCCHECK(rclc_node_init_with_options(&node, node_name, "", &support, &node_ops));
 
 	// create subscriber
 	RCCHECK(rclc_subscription_init_default(

rclc/configuration_example/custom_transports/main.c

@@ -135,14 +135,13 @@ int main(int argc, char * const argv[])
 
 	custom_transport_data_t custom_transport_data;
 
-	RCCHECK(rmw_uros_options_set_custom_transport(
+	RCCHECK(rmw_uros_set_custom_transport(
         false,
         (void*) &custom_transport_data,
         custom_transport_open,
         custom_transport_close,
         custom_transport_write,
-        custom_transport_read,
-        rmw_options
+        custom_transport_read
     ))
 
 	// create init_options