Agent discovery fix (#80)

* Fix for Agent discovery in RMW

* Add conditional compilation for discovery

Author: pablogs9

rmw_microxrcedds_c/src/rmw_uros_options.c

@@ -21,7 +21,7 @@
 #include <rmw/ret_types.h>
 #include <rmw/error_handling.h>
 
-// #include <uxr/client/client.h>
+#include <uxr/client/client.h>
 
 rmw_ret_t rmw_uros_init_options(
   int argc, const char * const argv[],
@@ -119,6 +119,7 @@ rmw_ret_t rmw_uros_options_set_udp_address(
 #endif
 }
 
+#if defined(MICRO_XRCEDDS_UDP) && defined(UCLIENT_PROFILE_DISCOVERY)
 bool on_agent_found(const TransportLocator* locator, void* args)
 {
   rmw_init_options_t * rmw_options = (rmw_init_options_t *) args;
@@ -146,6 +147,7 @@ bool on_agent_found(const TransportLocator* locator, void* args)
   }
   return false;
 }
+#endif
 
 rmw_ret_t rmw_uros_discover_agent(rmw_init_options_t * rmw_options)
 {
@@ -162,8 +164,6 @@ rmw_ret_t rmw_uros_discover_agent(rmw_init_options_t * rmw_options)
 
   return (strlen(rmw_options->impl->connection_params.agent_address) > 0 )? RMW_RET_OK : RMW_RET_TIMEOUT;
 #else
-  (void) ip;
-  (void) port;
   (void) rmw_options;
 
   RMW_SET_ERROR_MSG("MICRO_XRCEDDS_UDP or UCLIENT_PROFILE_DISCOVERY not set.");