add MODULECOMM_NO_FASTRTPS in systemdef.pri.

include/common.pri

@@ -26,6 +26,10 @@ QMAKE_LFLAGS += -no-pie
 
 INCLUDEPATH += $$PWD/../src/include/msgtype
 
+if(contains(DEFINES,MODULECOMM_NO_FASTRTPS)){
+DEFINES += NOT_USEFASTRTPS
+}else{
+
 if(contains(DEFINES,SYSTEM_AGX)){
 DEFINES += USE_FASTRTPS
 LIBS += -L$$PWD/../thirdpartylib/FastRTPS/lib/libarm64
@@ -38,6 +42,7 @@ LIBS += -L$$PWD/../thirdpartylib/FastRTPS/lib/libamd64
 system("cd ./../thirdpartylib/FastRTPS/lib ; unzip -x -n libamd64.zip ; cd ../../../include ; echo $PWD")
 }
 
+}
 
 
 if(contains(DEFINES,USE_FASTRTPS)){

src/common/common/xodr/xodrfunc/xodrdijkstra.cpp

@@ -113,7 +113,7 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
     int i;
     double  nlenth = 0;
     int nroadsize = mpxodr->GetRoadCount();
-    if(nroadsize<2)return;
+//    if(nroadsize<2)return;
     for(i=0;i<nroadsize;i++)
     {
         Road * px = mpxodr->GetRoad(i);
@@ -1078,7 +1078,7 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
         }
     }
 
-    for(i=0;i<(xvertexsamearray.size()-1);i++)
+    for(i=0;i<(((int)xvertexsamearray.size())-1);i++)
     {
         int j;
         for(j=(i+1);j<(xvertexsamearray.size());j++)

src/common/modulecomm/modulecomm.pro

@@ -58,6 +58,11 @@ unix {
     error( "Couldn't find the modulecomm_inter.pri file!" )
 }
 
+
+if(contains(DEFINES,MODULECOMM_NO_FASTRTPS)){
+DEFINES += NOT_USEFASTRTPS
+}else{
+
 if(contains(DEFINES,SYSTEM_AGX)){
 DEFINES += USE_FASTRTPS
 LIBS += -L$$PWD/../../../thirdpartylib/FastRTPS/lib/libarm64
@@ -70,6 +75,8 @@ LIBS += -L$$PWD/../../../thirdpartylib/FastRTPS/lib/libamd64
 system("cd ./../../../thirdpartylib/FastRTPS/lib ; unzip -x -n libamd64.zip ; cd ../../../include ; echo $PWD")
 }
 
+}
+
 
 
 if(contains(DEFINES,USE_FASTRTPS)){

src/tool/picview_civetweb/picview_civetweb.xml

@@ -0,0 +1,6 @@
+<xml>	
+	<node name="picview_civetweb">
+		<param name="imagemsgname" value="image00" />
+		<param name="Port" value="6123" />
+	</node>
+</xml>