Set ESP flag and change rtps branch (backport #99) (#100)

* Set ESP flag and change rtps branch (#99)

* Set ESP flag and change rtps branch

* Update libmicroros.mk

(cherry picked from commit b705d70)

# Conflicts:
#	libmicroros.mk

* Fix branch

Co-authored-by: Antonio Cuadros <49162117+Acuadros95@users.noreply.github.com>
Co-authored-by: Antonio Cuadros <acuadros1995@gmail.com>

Author: mergify[bot]

esp32_toolchain.cmake.in

@@ -25,7 +25,7 @@ set(CMAKE_CXX_COMPILER @CMAKE_CXX_COMPILER@)
 set(CMAKE_C_FLAGS_INIT "@CFLAGS@" CACHE STRING "" FORCE)
 set(CMAKE_CXX_FLAGS_INIT "@CXXFLAGS@" CACHE STRING "" FORCE)
 
-add_definitions(-DLWIP_IPV4 -DLWIP_IPV6 -DPLATFORM_NAME_FREERTOS)
+add_definitions(-DESP_PLATFORM -DLWIP_IPV4 -DLWIP_IPV6 -DPLATFORM_NAME_FREERTOS)
 
 include_directories(
         "@BUILD_CONFIG_DIR@"

libmicroros.mk

@@ -49,7 +49,7 @@ $(EXTENSIONS_DIR)/micro_ros_src/src:
 	rm -rf micro_ros_src; \
 	mkdir micro_ros_src; cd micro_ros_src; \
 	if [ "$(MIDDLEWARE)" = "embeddedrtps" ]; then \
-		git clone -b working_esp32 https://github.com/pablogs9/embeddedRTPS src/embeddedRTPS; \
+		git clone -b main https://github.com/pablogs9/embeddedRTPS src/embeddedRTPS; \
 		git clone -b main https://github.com/micro-ROS/rmw_embeddedrtps src/rmw_embeddedrtps; \
 	else \
 		git clone -b ros2 https://github.com/eProsima/Micro-XRCE-DDS-Client src/Micro-XRCE-DDS-Client; \