From 27203c273eb70dfa1b1f7238c96c7bf750882637 Mon Sep 17 00:00:00 2001
From: Javier Moreno <javiermoreno@eprosima.com>
Date: Fri, 2 Nov 2018 11:57:07 +0100
Subject: [PATCH] XML fix

---
 uROS_Agent/CMakeLists.txt            |  2 +-
 uROS_Agent/resource/StaticValues.xml |  6 +++---
 uROS_Agent/resource/rclcpp.xml       | 29 ++++++++++++++++++++++++++++
 uROS_Agent/src/main.cpp              | 22 +++++++++++++++++----
 4 files changed, 51 insertions(+), 8 deletions(-)
 create mode 100644 uROS_Agent/resource/rclcpp.xml

diff --git a/uROS_Agent/CMakeLists.txt b/uROS_Agent/CMakeLists.txt
index ec0182f..368b5ba 100644
--- a/uROS_Agent/CMakeLists.txt
+++ b/uROS_Agent/CMakeLists.txt
@@ -247,7 +247,7 @@ endif()
 #Install
 install(
   FILES "${_DEFAULT_FASTRTPS_PROFILES_PATH}"
-  DESTINATION "../microxrcedds_agent/bin"
+  DESTINATION lib/${PROJECT_NAME}
 )
 
 
diff --git a/uROS_Agent/resource/StaticValues.xml b/uROS_Agent/resource/StaticValues.xml
index 1c0e831..4d9c1ab 100644
--- a/uROS_Agent/resource/StaticValues.xml
+++ b/uROS_Agent/resource/StaticValues.xml
@@ -1,6 +1,6 @@
-    <participant profile_name="default_xrce_participant">
+    <participant profile_name="participant_profile">
         <rtps>
-            <name>default_xrce_participant</name>
+            <name>participant_profile</name>
         </rtps>
     </participant>
     <data_writer profile_name="shapetype_data_writer">
@@ -21,4 +21,4 @@
         <kind>WITH_KEY</kind>
         <name>Square</name>
         <dataType>ShapeType</dataType>
-    </topic>
+    </topic>
\ No newline at end of file
diff --git a/uROS_Agent/resource/rclcpp.xml b/uROS_Agent/resource/rclcpp.xml
new file mode 100644
index 0000000..54a4c50
--- /dev/null
+++ b/uROS_Agent/resource/rclcpp.xml
@@ -0,0 +1,29 @@
+    <topic profile_name="parameter_events_t">
+        <name>rt/parameter_events</name>
+        <dataType>rcl_interfaces::msg::dds_::ParameterEvent_</dataType>
+    </topic>
+     <topic profile_name="clock_t">
+        <name>rt/clock</name>
+        <dataType>rosgraph_msgs::msg::dds_::Clock_</dataType>
+    </topic>
+    <data_writer profile_name="parameter_events_p">
+        <topic>
+            <kind>NO_KEY</kind>
+            <name>rt/parameter_events</name>
+            <dataType>rcl_interfaces::msg::dds_::ParameterEvent_</dataType>
+        </topic>
+    </data_writer>
+    <data_reader profile_name="clock_s">
+        <topic>
+            <kind>NO_KEY</kind>
+            <name>rt/clock</name>
+            <dataType>rosgraph_msgs::msg::dds_::Clock_</dataType>
+        </topic>
+    </data_reader>
+    <data_reader profile_name="parameter_events_s">
+        <topic>
+            <kind>NO_KEY</kind>
+            <name>rt/parameter_events</name>
+            <dataType>rcl_interfaces::msg::dds_::ParameterEvent_</dataType>
+        </topic>
+    </data_reader>
\ No newline at end of file
diff --git a/uROS_Agent/src/main.cpp b/uROS_Agent/src/main.cpp
index 0d412f6..e9d986f 100644
--- a/uROS_Agent/src/main.cpp
+++ b/uROS_Agent/src/main.cpp
@@ -16,13 +16,18 @@
 #ifdef _WIN32
 #include <uxr/agent/transport/udp/UDPServerWindows.hpp>
 #include <uxr/agent/transport/tcp/TCPServerWindows.hpp>
-#else
+
+#elif __unix__
+#include <unistd.h>
+#include <libgen.h>
+
 #include <uxr/agent/transport/serial/SerialServerLinux.hpp>
 #include <uxr/agent/transport/udp/UDPServerLinux.hpp>
 #include <uxr/agent/transport/tcp/TCPServerLinux.hpp>
 #include <termios.h>
 #include <fcntl.h>
-#endif //_WIN32
+#endif
+
 #include <iostream>
 #include <string>
 #include <limits>
@@ -84,9 +89,18 @@ private:
 
 int main(int argc, char** argv)
 {
+    
+#ifdef __unix__
+    char exe_path[200];
+    ssize_t count = readlink("/proc/self/exe", exe_path, sizeof(exe_path));
+    if (count != -1) {
+        chdir(dirname(exe_path));
+    }
+#endif
+
     bool initialized = false;
 
-#ifndef _WIN32
+#ifdef __unix__
     if(argc == 2 && (strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "--help") == 0))
     {
         showHelp();
@@ -218,7 +232,7 @@ int main(int argc, char** argv)
     {
         initializationError();
     }
-#else
+#elif _WIN32
     (void) argc;
     (void) argv;