From 925003ccff6e8d4984c5c6c05536d97817d2124e Mon Sep 17 00:00:00 2001
From: Paul Tervoort <PaulTervoortMail@gmail.com>
Date: Tue, 17 Jan 2023 20:51:37 +0100
Subject: [PATCH] Make the library not dependent on the USE_USBCON define.

---
 rosserial_rp2040/Readme.txt        | 2 ++
 rosserial_rp2040/src/ros_lib/ros.h | 7 ++-----
 2 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/rosserial_rp2040/Readme.txt b/rosserial_rp2040/Readme.txt
index 0ce27f673..e0a1fbaf3 100644
--- a/rosserial_rp2040/Readme.txt
+++ b/rosserial_rp2040/Readme.txt
@@ -10,5 +10,7 @@ Rosserial client for rp2040 usage
 - Execute the command 'rosrun rosserial_rp2040 make_libraries.py' to generate the ros_lib library files in the pico-sdk library folder
 - To generate the ros_lib library files in a custom location use 'rosrun rosserial_rp2040 make_libraries.py <custom location>'
 
+To use the rp2040 USB serial connection for ros, use NodeHandleUSB instead of NodeHandle. 
+
 The rosserial functionality can now be accessed from the project as described in the rosserial tutorials.
 
diff --git a/rosserial_rp2040/src/ros_lib/ros.h b/rosserial_rp2040/src/ros_lib/ros.h
index c5a21b164..06bde70bd 100644
--- a/rosserial_rp2040/src/ros_lib/ros.h
+++ b/rosserial_rp2040/src/ros_lib/ros.h
@@ -11,11 +11,8 @@
 
 namespace ros
 {
-  #ifdef USE_USBCON
-  typedef ros::NodeHandle_<RP2040_Hardware_USB> NodeHandle;
-  #else
+  typedef ros::NodeHandle_<RP2040_Hardware_USB> NodeHandleUSB;
   typedef ros::NodeHandle_<RP2040_Hardware> NodeHandle;
-  #endif
 }
 
-#endif
\ No newline at end of file
+#endif