From 17cff09bea110babcf271d4a76d6af9f3b00941b Mon Sep 17 00:00:00 2001
From: Karsten Knese <karsten.knese@googlemail.com>
Date: Tue, 14 Nov 2017 15:30:25 -0800
Subject: [PATCH] add rmw_take_raw

---
 rmw/include/rmw/rmw.h   | 17 +++++++++++++++++
 rmw/include/rmw/types.h |  2 +-
 2 files changed, 18 insertions(+), 1 deletion(-)

diff --git a/rmw/include/rmw/rmw.h b/rmw/include/rmw/rmw.h
index 910052ed..b81e3f23 100644
--- a/rmw/include/rmw/rmw.h
+++ b/rmw/include/rmw/rmw.h
@@ -205,6 +205,23 @@ rmw_take_with_info(
   bool * taken,
   rmw_message_info_t * message_info);
 
+RMW_PUBLIC
+RMW_WARN_UNUSED
+rmw_ret_t
+rmw_take_raw(
+  const rmw_subscription_t * subscription,
+  rmw_message_raw_t * raw_message,
+  bool * taken);
+
+RMW_PUBLIC
+RMW_WARN_UNUSED
+rmw_ret_t
+rmw_take_raw_with_info(
+  const rmw_subscription_t * subscription,
+  rmw_message_raw_t * raw_message,
+  bool * taken,
+  rmw_message_info_t * message_info);
+
 RMW_PUBLIC
 RMW_WARN_UNUSED
 rmw_client_t *
diff --git a/rmw/include/rmw/types.h b/rmw/include/rmw/types.h
index 3d8e9cd5..e652b72c 100644
--- a/rmw/include/rmw/types.h
+++ b/rmw/include/rmw/types.h
@@ -230,7 +230,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_message_raw_t
 {
   // already serialized message data
   char * buffer;
-  size_t buffer_length;
+  unsigned int buffer_length;
 } rmw_message_raw_t;
 
 enum {RMW_QOS_POLICY_DEPTH_SYSTEM_DEFAULT = 0};