From 6e811b20adb303c5c57496e48c1e8af4ee1e463d Mon Sep 17 00:00:00 2001
From: David Laseca Perez <davidlaseca@eprosima.com>
Date: Thu, 3 Sep 2026 09:33:14 +0200
Subject: [PATCH 1/2] Fix 'microxrcedds_agent' name and dependency (#279)

* Fix 'microxrcedds_agent' name and dependency

Signed-off-by: David Laseca Perez <davidlaseca@eprosima.com>

* Set tag of 'microxrcedds_agent'

Signed-off-by: David Laseca Perez <davidlaseca@eprosima.com>

---------

Signed-off-by: David Laseca Perez <davidlaseca@eprosima.com>
(cherry picked from commit 5e42d6ab6fcb22726672f7b05ae100d644257ecb)

# Conflicts:
#	micro_ros_agent/cmake/SuperBuild.cmake
---
 micro_ros_agent/cmake/SuperBuild.cmake | 14 +++++++++++++-
 micro_ros_agent/package.xml            |  1 +
 2 files changed, 14 insertions(+), 1 deletion(-)

diff --git a/micro_ros_agent/cmake/SuperBuild.cmake b/micro_ros_agent/cmake/SuperBuild.cmake
index 46f4ed2..9f712a5 100644
--- a/micro_ros_agent/cmake/SuperBuild.cmake
+++ b/micro_ros_agent/cmake/SuperBuild.cmake
@@ -19,6 +19,7 @@ unset(_deps)
 enable_language(C)
 enable_language(CXX)
 
+<<<<<<< HEAD
 unset(xrceagent_DIR CACHE)
 find_package(xrceagent 2 EXACT QUIET)
 if(NOT xrceagent_FOUND)
@@ -27,6 +28,16 @@ if(NOT xrceagent_FOUND)
                 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
             GIT_TAG
                 v2.4.2
+=======
+unset(microxrcedds_agent_DIR CACHE)
+find_package(microxrcedds_agent 3.0.2 QUIET)
+if(NOT microxrcedds_agent_FOUND)
+    ExternalProject_Add(microxrcedds_agent
+            GIT_REPOSITORY
+                https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
+            GIT_TAG
+                v3.0.2
+>>>>>>> 5e42d6a (Fix 'microxrcedds_agent' name and dependency (#279))
             PREFIX
                 ${PROJECT_BINARY_DIR}/agent
             INSTALL_DIR
@@ -51,6 +62,7 @@ if(NOT xrceagent_FOUND)
                 -DUAGENT_BUILD_EXECUTABLE:BOOL=OFF
                 -DUAGENT_ISOLATED_INSTALL:BOOL=OFF
             )
+    list(APPEND _deps microxrcedds_agent)
 endif()
 
 # Main project.
@@ -64,5 +76,5 @@ ExternalProject_Add(micro_ros_agent
     INSTALL_COMMAND
         ""
     DEPENDS
-        xrceagent
+        ${_deps}
     )
diff --git a/micro_ros_agent/package.xml b/micro_ros_agent/package.xml
index 43231e7..ce0518b 100644
--- a/micro_ros_agent/package.xml
+++ b/micro_ros_agent/package.xml
@@ -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>

From 4c0f67291f541a54bcf2978625d146bf2f73a4a0 Mon Sep 17 00:00:00 2001
From: David Laseca Perez <davidlaseca@eprosima.com>
Date: Thu, 3 Sep 2026 14:26:50 +0200
Subject: [PATCH 2/2] Fix conflicts

Signed-off-by: David Laseca Perez <davidlaseca@eprosima.com>
---
 micro_ros_agent/cmake/SuperBuild.cmake | 15 ++-------------
 1 file changed, 2 insertions(+), 13 deletions(-)

diff --git a/micro_ros_agent/cmake/SuperBuild.cmake b/micro_ros_agent/cmake/SuperBuild.cmake
index 9f712a5..3f24088 100644
--- a/micro_ros_agent/cmake/SuperBuild.cmake
+++ b/micro_ros_agent/cmake/SuperBuild.cmake
@@ -19,25 +19,14 @@ unset(_deps)
 enable_language(C)
 enable_language(CXX)
 
-<<<<<<< HEAD
-unset(xrceagent_DIR CACHE)
-find_package(xrceagent 2 EXACT QUIET)
-if(NOT xrceagent_FOUND)
-    ExternalProject_Add(xrceagent
-            GIT_REPOSITORY
-                https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
-            GIT_TAG
-                v2.4.2
-=======
 unset(microxrcedds_agent_DIR CACHE)
-find_package(microxrcedds_agent 3.0.2 QUIET)
+find_package(microxrcedds_agent 2 QUIET)
 if(NOT microxrcedds_agent_FOUND)
     ExternalProject_Add(microxrcedds_agent
             GIT_REPOSITORY
                 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
             GIT_TAG
-                v3.0.2
->>>>>>> 5e42d6a (Fix 'microxrcedds_agent' name and dependency (#279))
+                v2.4.2
             PREFIX
                 ${PROJECT_BINARY_DIR}/agent
             INSTALL_DIR