Update SuperBuild.cmake (#238)

* Bump to Fast DDS v3

Signed-off-by: Carlosespicur <carlosespicur@proton.me>

* Fix xrce agent package name and change git tag in SuperBuild.cmake

Signed-off-by: Carlosespicur <carlosespicur@proton.me>

* Bump XRCE Agent version

---------

Signed-off-by: Carlosespicur <carlosespicur@proton.me>
Co-authored-by: Pablo Garrido <pablogs9@gmail.com>

.github/ISSUE_TEMPLATE/general-issue.md

@@ -12,7 +12,7 @@ assignees: ''
 - Hardware description: <!-- hardware where you are using micro-ROS -->
 - RTOS: <!-- RTOS where you are using micro-ROS -->
 - Installation type: <!-- micro_ros_setup, modules, etc  -->
-- Version or commit hash: <!-- version of micro-ROS used: humble, jazzy, kilted, rolling  -->
+- Version or commit hash: <!-- version of micro-ROS used: foxy, rolling  -->
 
 #### Steps to reproduce the issue
 <!-- Detailed instructions on how to reliably reproduce this issue http://sscce.org/-->

.github/workflows/ci.yml

@@ -3,7 +3,7 @@ name: CI micro-ROS Agent
 on:
     pull_request:
       branches:
-        - 'kilted'
+        - 'jazzy'
     schedule:
       - cron: '33 6 * * *'
 
@@ -15,15 +15,15 @@ jobs:
         fail-fast: false
         matrix:
           os: [ ubuntu-latest ]
-          ros_distribution: [ kilted ]
+          ros_distribution: [ jazzy ]
           include:
             - docker_image: ubuntu:24.04
-              ros_distribution: kilted
+              ros_distribution: jazzy
       container:
         image: ${{ matrix.docker_image }}
       steps:
       - uses: actions/checkout@v4
-      - uses: ros-tooling/setup-ros@0.7.13
+      - uses: ros-tooling/setup-ros@0.7.7
         with:
           use-ros2-testing: false
           required-ros-distributions: ${{ matrix.ros_distribution }}
@@ -31,7 +31,7 @@ jobs:
         run: |
           apt-get install ros-${{ matrix.ros_distribution }}-micro-ros-msgs
           apt-get install ros-${{ matrix.ros_distribution }}-rmw-fastrtps-cpp
-      - uses : ros-tooling/action-ros-ci@0.4.3
+      - uses : ros-tooling/action-ros-ci@0.3.13
         with:
           package-name: "micro_ros_agent"
           target-ros2-distro: ${{ matrix.ros_distribution }}

micro_ros_agent/CHANGELOG.rst

@@ -2,22 +2,13 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-6.1.1 (2026-08-11)
+5.0.20 (2024-10-14)
-------------------
+-------------------
-* Update maintainers (`#275 <https://github.com/micro-ROS/micro-ROS-Agent/issues/275>`_)
-* Update CMakeLists.txt (`#247 <https://github.com/micro-ROS/micro-ROS-Agent/issues/247>`_) (`#263 <https://github.com/micro-ROS/micro-ROS-Agent/issues/263>`_)
-
-6.1.0 (2025-07-10)
-------------------
-* Use target_link_libraries instead of ament_target_dependencies (`#253 <https://github.com/micro-ROS/micro-ROS-Agent/issues/253>`_)
-* Remove fastrtps_cmake_module from CMakeLists.txt (`#248 <https://github.com/micro-ROS/micro-ROS-Agent/issues/248>`_)
-* bump Micro XRCE-DDS Agent (`#245 <https://github.com/micro-ROS/micro-ROS-Agent/issues/245>`_)
-* Undo changes in micro-ros agent compilation (`#239 <https://github.com/micro-ROS/micro-ROS-Agent/issues/239>`_)
-* Update SuperBuild.cmake (`#238 <https://github.com/micro-ROS/micro-ROS-Agent/issues/238>`_)
 * Bump micro-ROS-Agent to Fast DDS v3.0.1 (`#237 <https://github.com/micro-ROS/micro-ROS-Agent/issues/237>`_)
 
-6.0.0 (2024-05-31)
+5.0.2 (2024-05-31)
 ------------------
+* Jazzy Release
 * Bump Micro XRCE-DDS Agent (`#226 <https://github.com/micro-ROS/micro-ROS-Agent/issues/226>`_)
 
 5.0.1 (2024-01-29)

micro_ros_agent/CMakeLists.txt

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.11)
+cmake_minimum_required(VERSION 3.5)
 
 option(UROSAGENT_GENERATE_PROFILE
   "Generates agent.refs according to the .msgs provided in the .repos" OFF
@@ -31,10 +31,11 @@ else()
 endif()
 
 find_package(ament_cmake REQUIRED)
-find_package(microxrcedds_agent REQUIRED)
 find_package(rosidl_cmake REQUIRED)
 find_package(fastcdr REQUIRED)
 find_package(fastdds REQUIRED)
+find_package(microxrcedds_agent REQUIRED)
+find_package(fastrtps_cmake_module REQUIRED)
 find_package(rmw_dds_common REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rcutils REQUIRED)
@@ -62,15 +63,16 @@ target_include_directories(${PROJECT_NAME}
     include
   )
 
-target_link_libraries(${PROJECT_NAME}
+ament_target_dependencies(${PROJECT_NAME}
-  ${micro_ros_msgs_TARGETS}
+  rosidl_typesupport_fastrtps_cpp
-  ${rmw_dds_common_TARGETS}
+  rosidl_runtime_cpp
-  rmw::rmw
+  rosidl_typesupport_cpp
-  rmw_dds_common::rmw_dds_common_library
+  fastcdr
-  rmw_fastrtps_shared_cpp::rmw_fastrtps_shared_cpp
+  fastdds
-  rosidl_runtime_cpp::rosidl_runtime_cpp
+  rmw_dds_common
-  rosidl_typesupport_cpp::rosidl_typesupport_cpp
+  rmw
-  rosidl_typesupport_fastrtps_cpp::rosidl_typesupport_fastrtps_cpp
+  rmw_fastrtps_shared_cpp
+  micro_ros_msgs
   )
 
 target_link_libraries(${PROJECT_NAME}

micro_ros_agent/cmake/SuperBuild.cmake

@@ -19,14 +19,14 @@ unset(_deps)
 enable_language(C)
 enable_language(CXX)
 
-unset(xrceagent_DIR CACHE)
+unset(microxrcedds_agent_DIR CACHE)
-find_package(xrceagent 3 EXACT QUIET)
+find_package(microxrcedds_agent 3 EXACT QUIET)
 if(NOT xrceagent_FOUND)
-    ExternalProject_Add(xrceagent
+    ExternalProject_Add(microxrcedds_agent
             GIT_REPOSITORY
                 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
             GIT_TAG
-                v3.0.1
+                v3.0.0
             PREFIX
                 ${PROJECT_BINARY_DIR}/agent
             INSTALL_DIR
@@ -64,5 +64,5 @@ ExternalProject_Add(micro_ros_agent
     INSTALL_COMMAND
         ""
     DEPENDS
-        xrceagent
+        microxrcedds_agent
     )

micro_ros_agent/package.xml

@@ -2,10 +2,10 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>micro_ros_agent</name>
-  <version>6.1.1</version>
+  <version>5.0.20</version>
   <description>micro-ROS Agent package</description>
-  <maintainer email="eugeniocollado@eprosima.com">Eugenio Collado</maintainer>
+  <maintainer email="pablogarrido@eprosima.com">Pablo Garrido</maintainer>
-  <maintainer email="davidlaseca@eprosima.com">David Laseca</maintainer>
+  <maintainer email="antoniocuadros@eprosima.com">Antonio Cuadros</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
@@ -20,6 +20,7 @@
   <depend>rmw_fastrtps_shared_cpp</depend>
   <depend>rmw_dds_common</depend>
   <depend>micro_ros_msgs</depend>
+  <depend>microxrcedds_agent</depend>
 
   <test_depend>rosidl_typesupport_fastrtps_cpp</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>