Updates

Author: pablogs9

rmw_microxrcedds_c/src/rmw_init.c

@@ -295,20 +295,17 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
   uxr_set_request_callback(&context_impl->session, on_request, NULL);
   uxr_set_reply_callback(&context_impl->session, on_reply, NULL);
 
-#ifndef UCLIENT_BROKERLESS_ENABLE
   context_impl->reliable_input = uxr_create_input_reliable_stream(
     &context_impl->session, context_impl->input_reliable_stream_buffer,
-    context_impl->transport.comm.mtu * RMW_UXRCE_STREAM_HISTORY, RMW_UXRCE_STREAM_HISTORY);
-  context_impl->reliable_output =
-    uxr_create_output_reliable_stream(
+    RMW_UXRCE_MAX_BUFFER_SIZE, RMW_UXRCE_STREAM_HISTORY);
+  context_impl->reliable_output = uxr_create_output_reliable_stream(
     &context_impl->session, context_impl->output_reliable_stream_buffer,
-    context_impl->transport.comm.mtu * RMW_UXRCE_STREAM_HISTORY, RMW_UXRCE_STREAM_HISTORY);
-#endif
+    RMW_UXRCE_MAX_BUFFER_SIZE, RMW_UXRCE_STREAM_HISTORY);
 
   context_impl->best_effort_input = uxr_create_input_best_effort_stream(&context_impl->session);
   context_impl->best_effort_output = uxr_create_output_best_effort_stream(
     &context_impl->session,
-    context_impl->output_best_effort_stream_buffer, context_impl->transport.comm.mtu);
+    context_impl->output_best_effort_stream_buffer, RMW_UXRCE_MAX_TRANSPORT_MTU);
 
 #ifndef UCLIENT_BROKERLESS_ENABLE
   context_impl->entity_creation_output = &context_impl->reliable_output;

rmw_microxrcedds_c/src/rmw_publish.c

@@ -53,7 +53,7 @@ rmw_publish(
         topic_length))
     {
       written = functions->cdr_serialize(ros_message, &mb);
-      printf("WRITTEN %d\n",written);
+
       if (written && UXR_BEST_EFFORT_STREAM == custom_publisher->stream_id.type) {
         uxr_flash_output_streams(&custom_publisher->owner_node->context->session);
       } else {

rmw_microxrcedds_c/src/rmw_publisher.c

@@ -100,8 +100,8 @@ rmw_create_publisher(
 
     custom_publisher->stream_id =
       (qos_policies->reliability == RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT) || (custom_node->context->entity_creation_output->type == UXR_BEST_EFFORT_STREAM) ?
-      custom_node->context->best_effort_input :
-      custom_node->context->reliable_input;
+      custom_node->context->best_effort_output :
+      custom_node->context->reliable_output;
 
     const rosidl_message_type_support_t * type_support_xrce = NULL;
 #ifdef ROSIDL_TYPESUPPORT_MICROXRCEDDS_C__IDENTIFIER_VALUE