Pablo Garrido

Could you please copy-paste that text instead of screenshotting?

Try with `cmake -DCMAKE_TOOLCHAIN_FILE=../toolchains/esp8266_toolchain.cmake -DUCLIENT_SUPERBUILD=OFF ..`

You will need to build separately Micro CDR and Micro XRCE-DDS Client and probably use the `include` folder of the CDR for the XRCE-DDS Client build.

I have done this: ```bash mkdir my_project && cd my_project export ROOT=$(pwd) wget https://dl.espressif.com/dl/xtensa-lx106-elf-gcc8_4_0-esp-2020r3-linux-amd64.tar.gz # From here: https://docs.espressif.com/projects/esp8266-rtos-sdk/en/latest/get-started/linux-setup.html tar -xzf xtensa-lx106-elf-gcc8_4_0-esp-2020r3-linux-amd64.tar.gz cd $ROOT git clone -b v1.2.1 https://github.com/eProsima/Micro-CDR cd Micro-CDR...

Have you disabled TCP and serial profiles if you are not going to use them? https://github.com/eProsima/Micro-XRCE-DDS-Client/blob/69134a9ba97f98f3cfad1588af816a6a22133116/CMakeLists.txt#L47

You need to include the header where those objects are defined in your FreeRTOS installation.

That's our fault. Solved here: https://github.com/eProsima/Micro-XRCE-DDS-Client/pull/239. Try again when https://github.com/eProsima/Micro-XRCE-DDS-Client/pull/239 merged.

https://github.com/eProsima/Micro-XRCE-DDS-Client/pull/239 merged, try it now

Could you provide code for replicating this issue?

We need `uxr_read_*_data_platform` to wait at maximum the specified time in the timeout if no data arrives.