Changing to IPV6

Feature/pack (#10)

.gitignore

@@ -0,0 +1,35 @@
+
+# Created by https://www.gitignore.io/api/qtcreator
+# Edit at https://www.gitignore.io/?templates=qtcreator
+
+### QtCreator ###
+# gitignore for Qt Creator like IDE for pure C/C++ project without Qt
+#
+# Reference: http://doc.qt.io/qtcreator/creator-project-generic.html
+
+
+
+# Qt Creator autogenerated files
+
+
+# A listing of all the files included in the project
+*.files
+
+# Include directories
+*.includes
+
+# Project configuration settings like predefined Macros
+*.config
+
+# Qt Creator settings
+*.creator
+
+# User project settings
+*.creator.user*
+
+# Qt Creator backups
+*.autosave
+
+# End of https://www.gitignore.io/api/qtcreator
+
+CMakeLists.txt.user

LICENSE

@@ -0,0 +1,201 @@
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+                        http://www.apache.org/licenses/
+
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+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
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+   See the License for the specific language governing permissions and
+   limitations under the License.

README.md

@@ -0,0 +1,7 @@
+# micro-ROS-Agent
+
+[![GitHub license](https://img.shields.io/github/license/microROS/micro-ROS-Agent.svg)](https://github.com/microROS/micro-ROS-Agent)
+[![GitHub release](https://img.shields.io/github/release/microROS/micro-ROS-Agent.svg)](https://github.com/microROS/micro-ROS-Agent/releases)
+
+ROS 2 package using Micro XRCE-DDS Agent.
+

micro_ros_agent/CHANGELOG.rst

@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package micro-ros_agent
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.0.1 (2019-04-24)
+-----------------
+* Initial release
+

micro_ros_agent/CMakeLists.txt

@@ -17,7 +17,7 @@
 cmake_minimum_required(VERSION 3.5)
 
 # Set proyect name
-project(uros_agent)
+project(micro_ros_agent)
 
 
 set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)
@@ -208,8 +208,7 @@ file(WRITE "${_DEFAULT_FASTRTPS_PROFILES_PATH}" "${_XmlDoc}")
 # Only compile uROS agent if rclcpp is found
 find_package(rclcpp QUIET)
 if (rclcpp_FOUND)
-  find_package(microxrcedds_agent_cmake_module REQUIRED)
+  find_package(microxrcedds_agent REQUIRED)
-  find_package(MicroXRCEDDS_Agent REQUIRED MODULE)
 
   add_executable(${PROJECT_NAME} src/main.cpp)
   ament_target_dependencies(

micro_ros_agent/README.md

@@ -28,4 +28,4 @@ Communication between the Micro-ROS Agent and the Micro-ROS nodes supports two t
 - SerialPort.
 
 All available configurations are supported directly by the Micro XRCE-DDS agent.
-For further information on how to configure the agent click [here](TODO).
+For further information on how to configure the agent click [here](TODO).

micro_ros_agent/bin/Xml_interface_gen.py

@@ -7,8 +7,8 @@ import sys
 sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)),'..'))
 
 from rosidl_cmake import read_generator_arguments
-from rosidl_parser import UnknownMessageType
+from rosidl_adapter.parser import UnknownMessageType
-from uros_agent import generate_XML
+from micro_ros_agent import generate_XML
 
 
 def main(argv=sys.argv[1:]):

micro_ros_agent/bin/Xml_read_default_profiles.py

@@ -7,7 +7,7 @@ import xml.etree.ElementTree
 
 sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)),'..'))
 
-from uros_agent import *
+from micro_ros_agent import *
 
 def main(argv=sys.argv[1:]):
     parser = argparse.ArgumentParser(
@@ -23,4 +23,4 @@ def main(argv=sys.argv[1:]):
     return 0
 
 if __name__ == '__main__':
-    sys.exit(main())
+    sys.exit(main())

micro_ros_agent/micro_ros_agent/__init__.py

@@ -18,12 +18,12 @@ import xml.etree.ElementTree
 
 from rosidl_cmake import convert_camel_case_to_lower_case_underscore
 from rosidl_cmake import expand_template
-from rosidl_cmake import extract_message_types
 from rosidl_cmake import get_newest_modification_time
-from rosidl_parser import parse_message_file
+from rosidl_adapter.parser import parse_message_file
-from rosidl_parser import parse_service_file
+from rosidl_adapter.parser import parse_service_file
-from rosidl_parser import validate_field_types
+from rosidl_adapter.parser import validate_field_types
 
+from rosidl_cmake import generate_files
 
 def GetPackage(Dir):
     
@@ -214,4 +214,4 @@ def generate_XML(args):
             #f = open(os.path.join(args['output_dir'], 'demofile.txt'), 'w+')
             #f.write("%s\n" % spec)
             #f.close()
-    return 0
+    return 0

micro_ros_agent/package.xml

@@ -1,10 +1,10 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>uros_agent</name>
+  <name>micro_ros_agent</name>
-  <version>0.0.2</version>
+  <version>0.0.1</version>
   <description>DDS-XCRE agent implementation </description>
-  <maintainer email="javiermoreno@eprosima.com">Javier Moreno</maintainer>
+  <maintainer email="borjaouterelo@eprosima.com">Borja Outerelo</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
@@ -14,7 +14,7 @@
 
   <depend>fastcdr</depend>
   <depend>fastrtps</depend>
-  <depend>microxrcedds_agent_cmake_module</depend>
+  <depend>microxrcedds_agent</depend>
   <depend>rosidl_cmake</depend>
   
   <build_depend>rclcpp</build_depend>

micro_ros_agent/src/main.cpp

@@ -0,0 +1,69 @@
+
+// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <uxr/agent/utils/CLI.hpp>
+
+int main(int argc, char** argv)
+{
+
+    /* CLI application. */
+    CLI::App app("micro-ROS Agent");
+    app.require_subcommand(1, 1);
+    app.get_formatter()->column_width(42);
+
+    /* CLI subcommands. */
+    eprosima::uxr::cli::UDPv6Subcommand udp_subcommand(app);
+    eprosima::uxr::cli::TCPv6Subcommand tcp_subcommand(app);
+#ifndef _WIN32
+    eprosima::uxr::cli::SerialSubcommand serial_subcommand(app);
+    eprosima::uxr::cli::PseudoSerialSubcommand pseudo_serial_subcommand(app);
+#endif
+    eprosima::uxr::cli::ExitSubcommand exit_subcommand(app);
+
+    /* CLI parse. */
+    std::string cli_input{};
+    for (int i = 1; i < argc; ++i)
+    {
+        cli_input.append(argv[i]);
+        cli_input.append(" ");
+    }
+
+    while (true)
+    {
+        try
+        {
+            app.parse(cli_input);
+            break;
+        }
+        catch (const CLI::ParseError& e)
+        {
+            app.exit(e);
+            std::cin.clear();
+            std::cout << std::endl;
+            std::cout << "Enter command: ";
+            std::getline(std::cin, cli_input);
+        }
+    }
+
+    /* Waiting until exit. */
+    std::cin.clear();
+    char exit_flag = 0;
+    while ('q' != exit_flag)
+    {
+        std::cin >> exit_flag;
+    }
+
+    return 0;
+}

microxrcedds_agent_cmake_module/CMakeLists.txt

@@ -1,32 +0,0 @@
-# Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-cmake_minimum_required(VERSION 3.5)
-
-project(microxrcedds_agent_cmake_module)
-
-find_package(ament_cmake REQUIRED)
-
-if(BUILD_TESTING)
-    find_package(ament_lint_auto REQUIRED)
-    ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_package(
-    CONFIG_EXTRAS "microxrcedds_agent_cmake_module-extras.cmake"
-    )
-
-install(DIRECTORY cmake
-    DESTINATION share/${PROJECT_NAME}
-    )

microxrcedds_agent_cmake_module/cmake/Modules/FindMicroXRCEDDS_Agent.cmake

@@ -1,124 +0,0 @@
-# Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-###############################################################################
-#
-# CMake module for finding eProsima MICROXRCEDDS_AGENT.
-#
-# Output variables:
-#
-# - MicroXRCEDDS_Agent_FOUND: flag indicating if the package was found
-# - MicroXRCEDDS_Agent_INCLUDE_DIR: Paths to the header files
-# 
-# Example usage:
-#
-#   find_package(uros_agent_cmake_module REQUIRED)
-#   find_package(MicroXRCEDDS_Agent MODULE)
-#   # use MicroXRCEDDS_Agent_* variables
-#
-###############################################################################
-
-# lint_cmake: -convention/filename, -package/stdargs
-
-set(MicroXRCEDDS_Agent_FOUND FALSE)
-
-find_package(microxrcedds_agent REQUIRED CONFIG)
-find_package(fastcdr REQUIRED CONFIG)
-find_package(fastrtps REQUIRED CONFIG)
-
-find_path(MicroXRCEDDS_Agent_INCLUDE_DIR NAMES uxr)
-
-string(REGEX MATCH "^[0-9]+\\.[0-9]+" microxrcedds_agent_MAJOR_MINOR_VERSION "${microxrcedds_agent_VERSION}")
-string(REGEX MATCH "^[0-9]+\\.[0-9]+" fastcdr_MAJOR_MINOR_VERSION "${fastcdr_VERSION}")
-string(REGEX MATCH "^[0-9]+\\.[0-9]+" fastrtps_MAJOR_MINOR_VERSION "${fastrtps_VERSION}")
-
-##
-find_library(MicroXRCEDDS_Agent_LIBRARY_RELEASE
-  NAMES microxrcedds_agent-${microxrcedds_agent_MAJOR_MINOR_VERSION} microxrcedds_agent)
-
-find_library(MicroXRCEDDS_Agent_LIBRARY_DEBUG
-  NAMES microxrcedds_agentd-${microxrcedds_agent_MAJOR_MINOR_VERSION} microxrcedds_agentd)
-
-if(MicroXRCEDDS_Agent_LIBRARY_RELEASE AND MicroXRCEDDS_Agent_LIBRARY_DEBUG)
-    set(MicroXRCEDDS_Agent_LIBRARIES
-        optimized ${MicroXRCEDDS_Agent_LIBRARY_RELEASE}
-        debug ${MicroXRCEDDS_Agent_LIBRARY_DEBUG}
-      )
-elseif(MicroXRCEDDS_Agent_LIBRARY_RELEASE)
-    set(MicroXRCEDDS_Agent_LIBRARIES
-        ${MicroXRCEDDS_Agent_LIBRARY_RELEASE}
-      )
-elseif(MicroXRCEDDS_Agent_LIBRARY_DEBUG)
-    set(MicroXRCEDDS_Agent_LIBRARIES
-        ${MicroXRCEDDS_Agent_LIBRARY_DEBUG}
-      )
-else()
-    set(MicroXRCEDDS_Agent_LIBRARIES "")
-endif()
-
-##
-find_library(FastRTPS_LIBRARY_RELEASE
-  NAMES fastrtps-${fastrtps_MAJOR_MINOR_VERSION} fastrtps)
-
-find_library(FastRTPS_LIBRARY_DEBUG
-  NAMES fastrtpsd-${fastrtps_MAJOR_MINOR_VERSION} fastrtpsd)
-
-if(FastRTPS_LIBRARY_RELEASE AND FastRTPS_LIBRARY_DEBUG)
-    set(FastRTPS_LIBRARIES
-        optimized ${FastRTPS_LIBRARY_RELEASE}
-        debug ${FastRTPS_LIBRARY_DEBUG}
-      )
-elseif(FastRTPS_LIBRARY_RELEASE)
-    set(FastRTPS_LIBRARIES
-        ${MicroXRCEDDS_Agent_LIBRARY_RELEASE}
-      )
-elseif(FastRTPS_LIBRARY_DEBUG)
-    set(FastRTPS_LIBRARIES
-        ${MicroXRCEDDS_Agent_LIBRARY_DEBUG}
-      )
-else()
-    set(FastRTPS_LIBRARIES "")
-endif()
-
-##
-find_library(FastCDR_LIBRARY_RELEASE
-  NAMES fastcdr-${fastcdr_MAJOR_MINOR_VERSION} fastcdr)
-
-find_library(FastCDR_LIBRARY_DEBUG
-  NAMES fastcdrd-${fastcdr_MAJOR_MINOR_VERSION} fastcdrd)
-
-if(FastCDR_LIBRARY_RELEASE AND FastCDR_LIBRARY_DEBUG)
-    set(FastCDR_LIBRARIES
-        optimized ${FastCDR_LIBRARY_RELEASE}
-        debug ${FastCDR_LIBRARY_DEBUG}
-      )
-elseif(FastCDR_LIBRARY_RELEASE)
-    set(FastCDR_LIBRARIES
-        ${FastCDR_LIBRARY_RELEASE}
-      )
-elseif(FastCDR_LIBRARY_DEBUG)
-    set(FastCDR_LIBRARIES
-        ${FastCDR_LIBRARY_DEBUG}
-      )
-else()
-    set(FastCDR_LIBRARIES "")
-endif()
-
-include(FindPackageHandleStandardArgs)
-find_package_handle_standard_args(MicroXRCEDDS_Agent
-        FOUND_VAR MicroXRCEDDS_Agent_FOUND
-  REQUIRED_VARS
-        MicroXRCEDDS_Agent_INCLUDE_DIR
-        MicroXRCEDDS_Agent_LIBRARIES
-)

microxrcedds_agent_cmake_module/microxrcedds_agent_cmake_module-extras.cmake

@@ -1,15 +0,0 @@
-# Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-list(INSERT CMAKE_MODULE_PATH 0 "${microxrcedds_agent_cmake_module_DIR}/Modules")

microxrcedds_agent_cmake_module/package.xml

@@ -1,22 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="2">
-  <name>microxrcedds_agent_cmake_module</name>
-  <version>0.1.0</version>
-  <description>Provide CMake module to find eProsima Micro XRCE-DDS Agent</description>
-  <maintainer email="javiermoreno@eprosima.com">Javier Moreno</maintainer>
-  <license>Apache License 2.0</license>
-  <author>Javier Moreno</author>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
-  <build_depend>microxrcedds_agent</build_depend>
-  <build_export_depend>microxrcedds_agent</build_export_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>

uROS_Agent/src/main.cpp

@@ -1,237 +0,0 @@
-
-// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifdef _WIN32
-#include <uxr/agent/transport/udp/UDPServerWindows.hpp>
-#include <uxr/agent/transport/tcp/TCPServerWindows.hpp>
-
-#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
-
-#include <iterator>
-#include <iostream>
-#include <string>
-#include <limits>
-#include "rclcpp/rclcpp.hpp"
-
-void showHelp()
-{
-    std::cout << "Usage: program <command>" << std::endl;
-    std::cout << "List of commands:" << std::endl;
-#ifdef _WIN32
-    std::cout << "    udp <local_port>" << std::endl;
-    std::cout << "    tcp <local_port>" << std::endl;
-#else
-    std::cout << "    serial <device_name>" << std::endl;
-    std::cout << "    pseudo-serial" << std::endl;
-    std::cout << "    udp <local_port> [<discovery_port>]" << std::endl;
-    std::cout << "    tcp <local_port> [<discovery_port>]" << std::endl;
-#endif
-}
-
-void initializationError()
-{
-    std::cout << "Error: Invalid arguments." << std::endl;
-    showHelp();
-    std::exit(EXIT_FAILURE);
-}
-
-uint16_t parsePort(const std::string& str_port)
-{
-    uint16_t valid_port = 0;
-    try
-    {
-        int port = std::stoi(str_port);
-        if(port > (std::numeric_limits<uint16_t>::max)())
-        {
-            std::cout << "Error: port number '" << port << "out of range." << std::endl;
-            initializationError();
-        }
-        valid_port = uint16_t(port);
-    }
-    catch (const std::invalid_argument& )
-    {
-        initializationError();
-    }
-    return valid_port;
-}
-
-int main(int argc, char** argv)
-{
-    eprosima::uxr::Server* server = nullptr;
-    std::vector<std::string> cl(0);
-
-    if (1 == argc)
-    {
-        showHelp();
-        std::cout << std::endl;
-        std::cout << "Enter command: ";
-
-        std::string raw_cl;
-        std::getline(std::cin, raw_cl);
-        std::istringstream iss(raw_cl);
-        cl.insert(cl.begin(), std::istream_iterator<std::string>(iss), std::istream_iterator<std::string>());
-        std::cout << raw_cl << std::endl;
-    }
-    else
-    {
-        for (int i = 1; i < argc; ++i)
-        {
-            cl.push_back(argv[i]);
-        }
-    }
-
-    if((1 == cl.size()) && (("-h" == cl[0]) || ("--help" == cl[0])))
-    {
-        showHelp();
-    }
-    else if((2 <= cl.size()) && ("udp" == cl[0]))
-    {
-        std::cout << "UDP agent initialization... ";
-        uint16_t port = parsePort(cl[1]);
-#ifdef _WIN32
-        server = new eprosima::uxr::UDPServer(port);
-#else
-        server = (3 == cl.size()) //discovery port
-                 ? new eprosima::uxr::UDPServer(port, parsePort(cl[2]))
-                 : new eprosima::uxr::UDPServer(port);
-#endif
-    }
-    else if((2 <= cl.size()) && ("tcp" == cl[0]))
-    {
-        std::cout << "TCP agent initialization... ";
-        uint16_t port = parsePort(cl[1]);
-#ifdef _WIN32
-        server = new eprosima::uxr::TCPServer(port);
-#else
-        server = (3 == cl.size()) //discovery port
-                 ? new eprosima::uxr::TCPServer(port, parsePort(cl[2]))
-                 : new eprosima::uxr::TCPServer(port);
-#endif
-    }
-#ifndef _WIN32
-    else if((2 == cl.size()) && ("serial" == cl[0]))
-    {
-        std::cout << "Serial agent initialization... ";
-
-        /* Open serial device. */
-        int fd = open(cl[1].c_str(), O_RDWR | O_NOCTTY);
-        if (0 < fd)
-        {
-            struct termios tty_config;
-            memset(&tty_config, 0, sizeof(tty_config));
-            if (0 == tcgetattr(fd, &tty_config))
-            {
-                /* Setting CONTROL OPTIONS. */
-                tty_config.c_cflag |= CREAD;    // Enable read.
-                tty_config.c_cflag |= CLOCAL;   // Set local mode.
-                tty_config.c_cflag &= ~PARENB;  // Disable parity.
-                tty_config.c_cflag &= ~CSTOPB;  // Set one stop bit.
-                tty_config.c_cflag &= ~CSIZE;   // Mask the character size bits.
-                tty_config.c_cflag |= CS8;      // Set 8 data bits.
-                tty_config.c_cflag &= ~CRTSCTS; // Disable hardware flow control.
-
-                /* Setting LOCAL OPTIONS. */
-                tty_config.c_lflag &= ~ICANON;  // Set non-canonical input.
-                tty_config.c_lflag &= ~ECHO;    // Disable echoing of input characters.
-                tty_config.c_lflag &= ~ECHOE;   // Disable echoing the erase character.
-                tty_config.c_lflag &= ~ISIG;    // Disable SIGINTR, SIGSUSP, SIGDSUSP and SIGQUIT signals.
-
-                /* Setting INPUT OPTIONS. */
-                tty_config.c_iflag &= ~IXON;    // Disable output software flow control.
-                tty_config.c_iflag &= ~IXOFF;   // Disable input software flow control.
-                tty_config.c_iflag &= ~INPCK;   // Disable parity check.
-                tty_config.c_iflag &= ~ISTRIP;  // Disable strip parity bits.
-                tty_config.c_iflag &= ~IGNBRK;  // No ignore break condition.
-                tty_config.c_iflag &= ~IGNCR;   // No ignore carrier return.
-                tty_config.c_iflag &= ~INLCR;   // No map NL to CR.
-                tty_config.c_iflag &= ~ICRNL;   // No map CR to NL.
-
-                /* Setting OUTPUT OPTIONS. */
-                tty_config.c_oflag &= ~OPOST;   // Set raw output.
-
-                /* Setting OUTPUT CHARACTERS. */
-                tty_config.c_cc[VMIN] = 10;
-                tty_config.c_cc[VTIME] = 1;
-
-                /* Setting BAUD RATE. */
-                cfsetispeed(&tty_config, B115200);
-                cfsetospeed(&tty_config, B115200);
-
-                if (0 == tcsetattr(fd, TCSANOW, &tty_config))
-                {
-                    server = new eprosima::uxr::SerialServer(fd, 0);
-                }
-            }
-        }
-    }
-    else if ((1 == cl.size()) && ("pseudo-serial" == cl[0]))
-    {
-        std::cout << "Pseudo-Serial initialization... ";
-
-        /* Open pseudo-terminal. */
-        char* dev = NULL;
-        int fd = posix_openpt(O_RDWR | O_NOCTTY);
-        if (-1 != fd)
-        {
-            if (grantpt(fd) == 0 && unlockpt(fd) == 0 && (dev = ptsname(fd)))
-            {
-                struct termios attr;
-                tcgetattr(fd, &attr);
-                cfmakeraw(&attr);
-                tcflush(fd, TCIOFLUSH);
-                tcsetattr(fd, TCSANOW, &attr);
-                std::cout << "Device: " << dev << std::endl;
-            }
-        }
-        server = new eprosima::uxr::SerialServer(fd, 0x00);
-    }
-#endif
-    else
-    {
-        initializationError();
-    }
-
-    if (nullptr != server)
-    {
-        /* Launch server. */
-        if (server->run())
-        {
-            std::cout << "OK" << std::endl;
-            std::cin.clear();
-            char exit_flag = 0;
-            while ('q' != exit_flag)
-            {
-                std::cout << "Enter 'q' for exit" << std::endl;
-                std::cin >> exit_flag;
-            }
-            server->stop();
-        }
-        else
-        {
-            std::cout << "ERROR" << std::endl;
-        }
-    }
-
-    return 0;
-}