Make the library not dependent on the USE_USBCON define.

Author: PaulTervoort

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.
 

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
+#endif