diff --git a/plotjuggler_plugins/ParserLineInflux/line_parser.cpp b/plotjuggler_plugins/ParserLineInflux/line_parser.cpp
index 4673789a2..652dd12ee 100644
--- a/plotjuggler_plugins/ParserLineInflux/line_parser.cpp
+++ b/plotjuggler_plugins/ParserLineInflux/line_parser.cpp
@@ -67,7 +67,8 @@ class MsgParserImpl : public MessageParser
         if (value.startsWith('"') && value.endsWith('"'))
         {
           auto& data = _plot_data.getOrCreateStringSeries(key);
-          data.pushBack({ ts_sec, StringRef(value.data() + 1, value.size() - 2) });
+          data.pushBack(PJ::StringSeries::Point(
+              ts_sec, StringRef(value.data() + 1, value.size() - 2)));
         }
         else if (value == "t" || value == "T" || value == "true" || value == "True" ||
                  value == "TRUE")
diff --git a/plotjuggler_plugins/ParserROS/CMakeLists.txt b/plotjuggler_plugins/ParserROS/CMakeLists.txt
index 382634b6c..3b0da41fe 100644
--- a/plotjuggler_plugins/ParserROS/CMakeLists.txt
+++ b/plotjuggler_plugins/ParserROS/CMakeLists.txt
@@ -9,13 +9,15 @@ find_package(fastcdr QUIET)
 
 add_subdirectory(rosx_introspection)
 
-include_directories( rosx_introspection/include )
-
 add_library(ParserROS1 SHARED
     special_messages.cpp
     ros_parser.cpp
     ros1_parser.h )
 
+target_include_directories(rosx_introspection PRIVATE
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/rosx_introspection/include>
+    )
+
 target_link_libraries(ParserROS1
     ${Qt5Widgets_LIBRARIES}
     rosx_introspection
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/CMakeLists.txt b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/CMakeLists.txt
index aa7036fb6..948da0f3c 100644
--- a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/CMakeLists.txt
+++ b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/CMakeLists.txt
@@ -15,12 +15,7 @@
 ###############################################################################
 # CMake build rules for FastCDR                                               #
 ###############################################################################
-cmake_minimum_required(VERSION 3.10)
-
-set(IS_TOP_LEVEL TRUE)
-if(PROJECT_SOURCE_DIR)
-    set(IS_TOP_LEVEL FALSE)
-endif()
+cmake_minimum_required(VERSION 3.16)
 
 # Set CMAKE_BUILD_TYPE to Release by default.
 if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
@@ -31,58 +26,16 @@ if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
     set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
 endif()
 
-###############################################################################
-# Version information                                                         #
-###############################################################################
-
-#If not set, copy over product version from configure.ac
-file(STRINGS
-    configure.ac
-    LIB_MAJOR_VERSION_TMP
-    REGEX "^m4_define\\(\\[?version_major\\]?, *\\[?[0-9]+\\]?\\)"
-    )
-file(STRINGS
-    configure.ac
-    LIB_MINOR_VERSION_TMP
-    REGEX "^m4_define\\(\\[?version_minor\\]?, *\\[?[0-9]+\\]?\\)"
-    )
-file(STRINGS
-    configure.ac
-    LIB_PATCH_VERSION_TMP
-    REGEX "^m4_define\\(\\[?version_micro\\]?, *\\[?[0-9]+\\]?\\)"
-    )
-
-string(REGEX REPLACE "m4_define\\(\\[?version_major\\]?, *\\[?([0-9]+)\\]?\\)"
-    "\\1"
-    LIB_MAJOR_VERSION
-    ${LIB_MAJOR_VERSION_TMP}
-    )
-string(REGEX REPLACE "m4_define\\(\\[?version_minor\\]?, *\\[?([0-9]+)\\]?\\)"
-    "\\1"
-    LIB_MINOR_VERSION
-    ${LIB_MINOR_VERSION_TMP}
-    )
-string(REGEX REPLACE "m4_define\\(\\[?version_micro\\]?, *\\[?([0-9]+)\\]?\\)"
-    "\\1"
-    LIB_PATCH_VERSION
-    ${LIB_PATCH_VERSION_TMP}
-    )
-
-set(LIB_VERSION_STR "${LIB_MAJOR_VERSION}.${LIB_MINOR_VERSION}.${LIB_PATCH_VERSION}")
+# Set BUILD_TESTING to OFF by default.
+if(NOT BUILD_TESTING)
+    message(STATUS "Tests not compiled by default")
+    set(BUILD_TESTING OFF CACHE BOOL "Enable testing" FORCE)
+endif()
 
 ###############################################################################
 # Project                                                                     #
 ###############################################################################
-if(CMAKE_VERSION VERSION_LESS 3.0)
-    project(fastcdr C CXX)
-    set(PROJECT_VERSION_MAJOR "${LIB_MAJOR_VERSION}")
-    set(PROJECT_VERSION_MINOR "${LIB_MINOR_VERSION}")
-    set(PROJECT_VERSION_PATCH "${LIB_PATCH_VERSION}")
-    set(PROJECT_VERSION "${LIB_VERSION_STR}")
-else()
-    cmake_policy(SET CMP0048 NEW)
-    project(fastcdr VERSION "${LIB_VERSION_STR}" LANGUAGES C CXX)
-endif()
+project(fastcdr VERSION 2.2.1 LANGUAGES CXX)
 
 set(PROJECT_NAME_STYLED "FastCDR")
 set(PROJECT_NAME_LARGE "Fast CDR")
@@ -92,12 +45,19 @@ set(${PROJECT_NAME}_DESCRIPTION "eProsima ${PROJECT_NAME_LARGE} library provides
 
 message(STATUS "Configuring ${PROJECT_NAME_LARGE}")
 message(STATUS "Version: ${PROJECT_VERSION}")
-message(STATUS "To change the version modify the file configure.ac")
 
 ###############################################################################
-# Generation of windows installers.
+# CCache on Windows on CI
 ###############################################################################
-option(EPROSIMA_INSTALLER "Activate the creation of a build to create windows installers" OFF)
+if (MSVC AND CMAKE_CXX_COMPILER_LAUNCHER STREQUAL "ccache")
+    foreach(config DEBUG RELWITHDEBINFO)
+        foreach(lang C CXX)
+            set(flags_var "CMAKE_${lang}_FLAGS_${config}")
+            string(REPLACE "/Zi" "/Z7" ${flags_var} "${${flags_var}}")
+            set(${flags_var} "${${flags_var}}")
+        endforeach()
+    endforeach()
+endif()
 
 ###############################################################################
 # GCC colors if using CCache
@@ -116,22 +76,14 @@ endif()
 # unless the library was explicitly added as a static library.
 option(BUILD_SHARED_LIBS "Create shared libraries by default" ON)
 
-###############################################################################
-# Load external eProsima projects.
-###############################################################################
-
-option(EPROSIMA_BUILD "Activate internal building" OFF)
-
-if(EPROSIMA_INSTALLER)
-    set(EPROSIMA_BUILD ON)
-endif()
-
 ###############################################################################
 # Test system configuration
 ###############################################################################
 include(${PROJECT_SOURCE_DIR}/cmake/common/check_configuration.cmake)
-check_stdcxx()
-check_compile_feature()
+
+set(FORCE_CXX "11" CACHE STRING "C++ standard fulfillment selection")
+check_stdcxx(${FORCE_CXX})
+
 check_endianness()
 check_type_sizes()
 
@@ -166,34 +118,25 @@ else()
     set(DOC_DIR "${DATA_INSTALL_DIR}/doc")
 endif()
 set(DOC_INSTALL_DIR ${DOC_DIR} CACHE PATH "Installation directory for documentation")
-if(WIN32 AND EPROSIMA_INSTALLER AND IS_TOP_LEVEL)
-    set(LICENSE_INSTALL_DIR . CACHE PATH "Installation directory for licenses")
-else()
-    set(LICENSE_INSTALL_DIR ${DATA_INSTALL_DIR}/${PROJECT_NAME} CACHE PATH "Installation directory for licenses")
-endif()
+set(LICENSE_INSTALL_DIR ${DATA_INSTALL_DIR}/${PROJECT_NAME} CACHE PATH "Installation directory for licenses")
 
 ###############################################################################
 # Compile library.
 ###############################################################################
 add_subdirectory(src/cpp)
 
-###############################################################################
-# Testing options
-###############################################################################
-option(EPROSIMA_BUILD_TESTS "Activate the building and execution unit tests and integral tests" OFF)
-
-if(EPROSIMA_BUILD AND NOT EPROSIMA_INSTALLER AND NOT EPROSIMA_INSTALLER_MINION)
-    set(EPROSIMA_BUILD_TESTS ON)
-endif()
-
 ###############################################################################
 # Testing
 ###############################################################################
-if(EPROSIMA_BUILD_TESTS AND IS_TOP_LEVEL AND NOT EPROSIMA_INSTALLER)
-    enable_testing()
-    include(CTest)
+enable_testing()
+include(CTest)
 
-    add_subdirectory(test)
+if (BUILD_TESTING)
+    if (CMAKE_VERSION VERSION_GREATER_EQUAL 3.22)
+        add_subdirectory(test)
+    else()
+        message(INFO "Tests are disabled because the version of CMake is less than 3.22")
+    endif()
 endif()
 
 ###############################################################################
@@ -202,11 +145,7 @@ endif()
 # Add an option to toggle the generation of the API documentation.
 option(BUILD_DOCUMENTATION "Use doxygen to create product documentation" OFF)
 option(CHECK_DOCUMENTATION "Use doxygen to check code documentation" OFF)
-
-if(EPROSIMA_INSTALLER)
-    set(BUILD_DOCUMENTATION ON)
-    set(DOXYGEN_SHOULD_SKIP_THIS_PUBLIC "DOXYGEN_SHOULD_SKIP_THIS_PUBLIC")
-endif()
+option(GENERATE_PDF_DOC "Use doxygen to generate API Reference PDF" OFF)
 
 if(CHECK_DOCUMENTATION)
     set(BUILD_DOCUMENTATION ON)
@@ -254,6 +193,11 @@ if(BUILD_DOCUMENTATION)
     else()
         set(USE_DOT YES)
     endif()
+    if(GENERATE_PDF_DOC)
+        set(GENERATE_LATEX YES)
+    else()
+        set(GENERATE_LATEX NO)
+    endif()
     # Configure the template doxyfile for or specific project
     configure_file(doxyfile.in ${PROJECT_BINARY_DIR}/doxyfile @ONLY IMMEDIATE)
     # Add custom target to run doxygen when ever the project is build
@@ -264,6 +208,15 @@ if(BUILD_DOCUMENTATION)
 
     add_dependencies(doxygen docdirs)
 
+    if(GENERATE_PDF_DOC)
+        add_custom_target(make_pdf ALL
+            COMMAND "make" "pdf"
+            WORKING_DIRECTORY ${PROJECT_BINARY_DIR}/doxygen/latex
+            COMMENT "Generating API reference PDF" VERBATIM)
+
+        add_dependencies(make_pdf doxygen)
+    endif()
+
     ### README html ########################
 
     if(WIN32)
@@ -277,26 +230,10 @@ if(BUILD_DOCUMENTATION)
 
     configure_file(doc/README.html.in ${README_LOCATION}/README.html @ONLY IMMEDIATE)
 
-    ### ReadTheDocs ########################
-#    if(NOT CHECK_DOCUMENTATION)
-#        add_custom_target(readthedocs
-#            COMMAND "${WGET_EXE}" "https://media.readthedocs.org/htmlzip/eprosima-fast-cdr/v${PROJECT_VERSION}/eprosima-fast-cdr.zip"
-#            COMMAND "${UNZIP_EXE}" "eprosima-fast-cdr.zip" -d "${PROJECT_BINARY_DIR}/doc/"
-#            COMMAND ${CMAKE_COMMAND} -E remove_directory "${PROJECT_BINARY_DIR}/doc/manual"
-#            COMMAND ${CMAKE_COMMAND} -E rename "${PROJECT_BINARY_DIR}/doc/eprosima-fast-cdr-v${PROJECT_VERSION}" "${PROJECT_BINARY_DIR}/doc/manual"
-#            COMMAND ${CMAKE_COMMAND} -E remove "eprosima-fast-cdr.zip"
-#            )
-#
-#        add_dependencies(readthedocs docdirs)
-#    endif()
-
     add_custom_target(doc ALL
         COMMENT "Generated project documentation" VERBATIM)
 
     add_dependencies(doc doxygen)
-#    if(NOT CHECK_DOCUMENTATION)
-#        add_dependencies(doc readthedocs)
-#    endif()
 endif()
 
 
@@ -308,9 +245,6 @@ install(FILES ${PROJECT_SOURCE_DIR}/LICENSE
     DESTINATION ${LICENSE_INSTALL_DIR}
     COMPONENT licenses
     )
-set(CPACK_COMPONENT_LICENSES_HIDDEN 1)
-
-set(CPACK_COMPONENTS_ALL headers licenses)
 
 if(BUILD_DOCUMENTATION)
 
@@ -325,35 +259,10 @@ if(BUILD_DOCUMENTATION)
         COMPONENT documentation
         )
 
-#    if(NOT CHECK_DOCUMENTATION)
-#        install(DIRECTORY ${PROJECT_BINARY_DIR}/doc/manual
-#            DESTINATION ${DOC_INSTALL_DIR}
-#            COMPONENT documentation
-#            )
-#    endif()
-
-    ### Documentation component
-    set(CPACK_COMPONENT_DOCUMENTATION_DISPLAY_NAME "Documentation")
-    set(CPACK_COMPONENT_DOCUMENTATION_DESCRIPTION "eProsima ${PROJECT_NAME_LARGE} documentation")
-
-    set(CPACK_COMPONENTS_ALL ${CPACK_COMPONENTS_ALL} documentation)
-endif()
-
-if(MSVC OR MSVC_IDE)
-    if(EPROSIMA_INSTALLER)
-        set(CPACK_COMPONENTS_ALL ${CPACK_COMPONENTS_ALL}
-            libraries_i86Win32VS2010
-            libraries_x64Win64VS2010
-            libraries_i86Win32VS2013
-            libraries_x64Win64VS2013
-            libraries_i86Win32VS2015
-            libraries_x64Win64VS2015
-            )
-    else()
-        set(CPACK_COMPONENTS_ALL ${CPACK_COMPONENTS_ALL} libraries_${MSVC_ARCH})
+    if(GENERATE_PDF_DOC)
+        install(FILES "${PROJECT_BINARY_DIR}/doxygen/latex/refman.pdf"
+        DESTINATION ${DOC_INSTALL_DIR}
+        RENAME fastcdr-${PROJECT_VERSION}-api-reference.pdf
+        COMPONENT documentation)
     endif()
-else()
-    set(CPACK_COMPONENTS_ALL ${CPACK_COMPONENTS_ALL} libraries)
 endif()
-
-include(${PROJECT_SOURCE_DIR}/cmake/packaging/eProsimaPackaging.cmake)
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/common/check_configuration.cmake b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/common/check_configuration.cmake
index 25c80552c..ac60c5aa1 100644
--- a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/common/check_configuration.cmake
+++ b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/common/check_configuration.cmake
@@ -12,71 +12,125 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-macro(check_stdcxx)
-    # Check C++11
-    include(CheckCXXCompilerFlag)
-    if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_COMPILER_IS_CLANG OR
-        CMAKE_CXX_COMPILER_ID MATCHES "Clang" OR
-        CMAKE_CXX_COMPILER_ID MATCHES "QCC")
-        check_cxx_compiler_flag(-std=c++14 SUPPORTS_CXX14)
-        set(HAVE_CXX14 0)
-        set(HAVE_CXX1Y 0)
-        set(HAVE_CXX11 0)
-        set(HAVE_CXX0X 0)
-        if(SUPPORTS_CXX14)
-            add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-std=c++14>)
-            set(HAVE_CXX14 1)
-            set(HAVE_CXX1Y 1)
-            set(HAVE_CXX11 1)
-            set(HAVE_CXX0X 1)
-        else()
-            check_cxx_compiler_flag(-std=c++1y SUPPORTS_CXX1Y)
-            if(SUPPORTS_CXX1Y)
-                add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-std=c++1y>)
-                set(HAVE_CXX1Y 1)
-                set(HAVE_CXX11 1)
-                set(HAVE_CXX0X 1)
-            else()
-                check_cxx_compiler_flag(-std=c++11 SUPPORTS_CXX11)
-                if(SUPPORTS_CXX11)
-                    add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-std=c++11>)
-                    set(HAVE_CXX11 1)
-                    set(HAVE_CXX0X 1)
-                else()
-                    check_cxx_compiler_flag(-std=c++0x SUPPORTS_CXX0X)
-                    if(SUPPORTS_CXX0X)
-                        add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-std=c++0x>)
-                        set(HAVE_CXX0X 1)
-                    else()
-                        set(HAVE_CXX0X 0)
-                    endif()
-                endif()
-            endif()
+# get_set_stdcxx() checks and sets the compiler standard level
+#   stdversion: the level of standard fullfilment
+#   stdfeature: the feature name associated with that level
+#   gcc_flag:   the gcc/clang flag for fallback
+#   cl_flag:    the cl flag for fallback
+#   force:      if the user should enforced this standard level or not (FORCE_CXX)
+#   result:     a return variable to check if this level is available
+
+function(get_set_stdcxx stdversion stdfeature gcc_flag cl_flag force result)
+
+    set(${result} 0 PARENT_SCOPE)
+
+    # check if CMake feature management is available
+    get_property(CXX_KNOWN_FEATURES GLOBAL PROPERTY CMAKE_CXX_KNOWN_FEATURES)
+    if((stdfeature IN_LIST CXX_KNOWN_FEATURES) AND NOT ("run_fallback_test" IN_LIST ARGV))
+        # CMake is aware let's check if is available
+        if(force AND (stdfeature IN_LIST CMAKE_CXX_COMPILE_FEATURES))
+            # is available report and enforce as commanded
+            # avoid using CACHE variables to avoid polute projects that use this repo as subdir
+            set(CMAKE_CXX_STANDARD ${stdversion} PARENT_SCOPE)
+            set(${result} 1 PARENT_SCOPE)
+            message(STATUS "Enforced ${stdfeature} CMake feature")
+        elseif(force)
+            message(FATAL_ERROR "The specified C++ ${stdfeature} feature is not supported using default compiler.")
         endif()
-    elseif(MSVC OR MSVC_IDE)
-        set(HAVE_CXX11 1)
-        set(HAVE_CXX0X 1)
     else()
-        set(HAVE_CXX11 0)
-        set(HAVE_CXX0X 0)
-    endif()
-endmacro()
+        # fallback to the old behaviour
+        include(CheckCXXCompilerFlag)
+
+        if(gcc_flag AND (
+           CMAKE_COMPILER_IS_GNUCXX OR CMAKE_COMPILER_IS_CLANG OR
+           CMAKE_CXX_COMPILER_ID MATCHES "Clang" OR
+           CMAKE_CXX_COMPILER_ID MATCHES "QCC"))
+            # check using gcc/clang flags
+            check_cxx_compiler_flag(${gcc_flag} SUPPORTS_${stdfeature})
+            if(SUPPORTS_${stdfeature} AND force)
+                add_compile_options($<$<COMPILE_LANGUAGE:CXX>:${gcc_flag}>)
+                set(${result} 1 PARENT_SCOPE)
+                message(STATUS "Enforced ${gcc_flag} CMake feature")
+            elseif((NOT SUPPORTS_${stdfeature}) AND force)
+                message(FATAL_ERROR "Force to support ${stdfeature} but not supported by gnu compiler")
+            endif()
+        elseif(cl_flag AND (MSVC OR MSVC_IDE))
+            # check using cl flags
+            check_cxx_compiler_flag(${cl_flag} SUPPORTS_${stdfeature})
+            if(SUPPORTS_${stdfeature} AND force)
+                add_compile_options($<$<COMPILE_LANGUAGE:CXX>:${cl_flag}>)
+                set(${result} 1 PARENT_SCOPE)
+                message(STATUS "Enforced ${cl_flag} CMake feature")
+            elseif((NOT SUPPORTS_${stdfeature}) AND force)
+                message(FATAL_ERROR "Force to support ${stdfeature} but not supported by MSVC")
+            endif()
+       elseif(force)
+           message(WARNING "The specified C++ ${stdfeature} feature is not supported using default compiler.")
+       endif()
 
-macro(check_compile_feature)
-    # Check constexpr
-    list(FIND CMAKE_CXX_COMPILE_FEATURES "cxx_constexpr" CXX_CONSTEXPR_SUPPORTED)
-    if(${CXX_CONSTEXPR_SUPPORTED} GREATER -1)
-        set(HAVE_CXX_CONSTEXPR 1)
-    else()
-        set(HAVE_CXX_CONSTEXPR 0)
     endif()
-endmacro()
+
+endfunction()
+
+function(check_stdcxx enforced_level)
+
+    # Map force values to cmake features
+    set(cxx_levels 23 20 17 14 1Y 11)
+    set(cxx_features cxx_std_23 cxx_std_20 cxx_std_17 cxx_std_14 NOTFOUND cxx_std_11)
+    set(gcc_flags -std=c++23 -std=c++20 -std=c++17 -std=c++14 -std=c++1y -std=c++11)
+    set(cl_flags /std:c++23 /std:c++20 /std:c++17 /std:c++14 NOTFOUND NOTFOUND)
+    set(HAVE_CXX HAVE_CXX23 HAVE_CXX20 HAVE_CXX17 HAVE_CXX14 HAVE_CXX1Y HAVE_CXX11)
+
+    # Traverse the collection
+    while(cxx_levels)
+
+        # pop current values
+        list(POP_FRONT cxx_levels level)
+        list(POP_FRONT cxx_features feature)
+        list(POP_FRONT gcc_flags gcc_flag)
+        list(POP_FRONT cl_flags cl_flag)
+        list(POP_FRONT HAVE_CXX preprocessor_flag)
+
+        # check if we must enforce this one
+        if(enforced_level STREQUAL level)
+            set(force TRUE)
+        else()
+            set(force FALSE)
+        endif()
+
+        # testing framework awareness
+        set(test)
+        if("run_fallback_test" IN_LIST ARGV)
+            set(test "run_fallback_test")
+        endif()
+
+        # check
+        get_set_stdcxx(${level} ${feature} ${gcc_flag} ${cl_flag} ${force} result ${test})
+
+        if(result)
+            # we are done, mark all levels below as available 
+            set(${preprocessor_flag} 1 PARENT_SCOPE)
+            # upload local variable fixed by get_set_stdcxx
+            set(CMAKE_CXX_STANDARD ${CMAKE_CXX_STANDARD} PARENT_SCOPE)
+            while(HAVE_CXX)
+                list(POP_FRONT HAVE_CXX preprocessor_flag)
+                set(${preprocessor_flag} 1 PARENT_SCOPE)
+            endwhile()
+            break()
+        else()
+            # If the user doesn't enforce this level the macros are not trustworthy
+            set(${preprocessor_flag} 0 PARENT_SCOPE)
+        endif()    
+
+    endwhile()    
+
+endfunction()
 
 macro(check_type_sizes)
     include(CheckTypeSize)
-    check_type_size("long double" TYPE_LONG_DOUBLE)
+    check_type_size("long double" TYPE_LONG_DOUBLE LANGUAGE CXX)
     set(FASTCDR_SIZEOF_LONG_DOUBLE ${TYPE_LONG_DOUBLE})
-    check_type_size("__float128" TYPE_FLOAT128)
+    check_type_size("__float128" TYPE_FLOAT128 LANGUAGE CXX)
     if(HAVE_TYPE_FLOAT128)
         set(FASTCDR_HAVE_FLOAT128 1)
     else()
@@ -85,10 +139,18 @@ macro(check_type_sizes)
 endmacro()
 
 macro(check_endianness)
-    # Test endianness
-    include(TestBigEndian)
-    test_big_endian(BIG_ENDIAN)
-    set(FASTCDR_IS_BIG_ENDIAN_TARGET ${BIG_ENDIAN})
+    if(CMAKE_CXX_BYTE_ORDER)
+        if(CMAKE_CXX_BYTE_ORDER STREQUAL "BIG_ENDIAN")
+            set(FASTCDR_IS_BIG_ENDIAN_TARGET 1)
+        else()
+            set(FASTCDR_IS_BIG_ENDIAN_TARGET 0)
+        endif()
+    else()
+        # Test endianness
+        include(TestBigEndian)
+        test_big_endian(BIG_ENDIAN)
+        set(FASTCDR_IS_BIG_ENDIAN_TARGET ${BIG_ENDIAN})
+    endif()
 endmacro()
 
 macro(check_msvc_arch)
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/common/eprosima_libraries.cmake b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/common/eprosima_libraries.cmake
deleted file mode 100644
index d326e81b4..000000000
--- a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/common/eprosima_libraries.cmake
+++ /dev/null
@@ -1,99 +0,0 @@
-# Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-macro(eprosima_find_package package)
-
-    if(NOT ${package}_FOUND)
-
-        # Parse arguments.
-        set(options REQUIRED)
-        set(multiValueArgs OPTIONS)
-        cmake_parse_arguments(FIND "${options}" "" "${multiValueArgs}" ${ARGN})
-
-        option(THIRDPARTY "Activate the use of internal thirdparties" OFF)
-        option(THIRDPARTY_UPDATE "Activate the auto update of internal thirdparties" ON)
-
-        if(EPROSIMA_BUILD)
-            set(THIRDPARTY ON)
-        endif()
-
-        option(THIRDPARTY_${package} "Activate the use of internal thirdparty ${package}" OFF)
-
-        if(NOT EPROSIMA_INSTALLER)
-            find_package(${package} QUIET)
-        endif()
-
-        if(NOT ${package}_FOUND AND (THIRDPARTY OR THIRDPARTY_${package}))
-            set(SUBDIRECTORY_EXIST TRUE)
-            if(THIRDPARTY_UPDATE OR NOT EXISTS "${PROJECT_SOURCE_DIR}/thirdparty/${package}/CMakeLists.txt")
-                message(STATUS "${package} thirdparty is being updated...")
-                execute_process(
-                    COMMAND git submodule update --recursive --init "thirdparty/${package}"
-                    WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
-                    RESULT_VARIABLE EXECUTE_RESULT
-                    )
-                if(NOT EXECUTE_RESULT EQUAL 0)
-                    message(WARNING "Cannot configure Git submodule ${package}")
-                    if(NOT EXISTS "${PROJECT_SOURCE_DIR}/thirdparty/${package}/CMakeLists.txt")
-                        set(SUBDIRECTORY_EXIST FALSE)
-                    endif()
-                endif()
-            endif()
-
-            if(SUBDIRECTORY_EXIST)
-                foreach(opt_ ${FIND_OPTIONS})
-                    set(${opt_} ON)
-                endforeach()
-                add_subdirectory(${PROJECT_SOURCE_DIR}/thirdparty/${package})
-                set(${package}_FOUND TRUE)
-                if(NOT IS_TOP_LEVEL)
-                    set(${package}_FOUND TRUE PARENT_SCOPE)
-                endif()
-            endif()
-        endif()
-
-        if(${package}_FOUND)
-            message(STATUS "${package} library found...")
-        elseif(${FIND_REQUIRED})
-            message(FATAL_ERROR "${package} library not found...")
-        else()
-            message(STATUS "${package} library not found...")
-        endif()
-    endif()
-endmacro()
-
-macro(eprosima_find_thirdparty package thirdparty_name)
-    if(NOT (EPROSIMA_INSTALLER AND (MSVC OR MSVC_IDE)))
-
-        option(THIRDPARTY_${package} "Activate the use of internal thirdparty ${package}" OFF)
-
-        if(THIRDPARTY OR THIRDPARTY_${package})
-            execute_process(
-                COMMAND git submodule update --recursive --init "thirdparty/${thirdparty_name}"
-                WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
-                RESULT_VARIABLE EXECUTE_RESULT
-                )
-
-            if(EXECUTE_RESULT EQUAL 0)
-            else()
-                message(FATAL_ERROR "Cannot configure Git submodule ${package}")
-            endif()
-            set(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH} ${PROJECT_SOURCE_DIR}/thirdparty/${thirdparty_name})
-            set(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH} ${PROJECT_SOURCE_DIR}/thirdparty/${thirdparty_name}/${thirdparty_name})
-        endif()
-
-        find_package(${package} REQUIRED QUIET)
-
-    endif()
-endmacro()
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/common/find_or_add_gtest.cmake b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/common/find_or_add_gtest.cmake
new file mode 100644
index 000000000..f466bc85a
--- /dev/null
+++ b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/common/find_or_add_gtest.cmake
@@ -0,0 +1,40 @@
+# Copyright 2024 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+macro(find_or_add_gtest)
+    # Check if building on an ament context, i.e. ROS 2
+    # Thanks to https://github.com/facontidavide/PlotJuggler/blob/main/CMakeLists.txt#L66
+    find_package(ament_cmake QUIET)
+
+    # This is a ROS 2 build
+    if(ament_cmake_FOUND)
+        # Find all GTest vendor required packages
+        find_package(ament_cmake REQUIRED)
+        find_package(gtest_vendor REQUIRED)
+        find_package(ament_cmake_gtest REQUIRED)
+
+        # Find GTest
+        ament_find_gtest()
+
+        # Add aliases for GTest libraries so we can use them as targets independently of the context
+        add_library(GTest::gtest ALIAS gtest)
+        add_library(GTest::gtest_main ALIAS gtest_main)
+        target_link_libraries(gtest_main gtest)
+
+    # This is a non-ROS 2 build
+    else()
+        # Find GTest normally
+        find_package(GTest CONFIG REQUIRED)
+    endif()
+endmacro()
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/common/gtest.cmake b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/common/gtest.cmake
deleted file mode 100644
index eabccb6c4..000000000
--- a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/common/gtest.cmake
+++ /dev/null
@@ -1,84 +0,0 @@
-# Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-option(GTEST_INDIVIDUAL "Activate the execution of GTest tests" OFF)
-
-macro(add_gtest test)
-    # Parse arguments
-    set(multiValueArgs SOURCES ENVIRONMENTS DEPENDENCIES)
-    cmake_parse_arguments(GTEST "" "" "${multiValueArgs}" ${ARGN})
-
-    if(GTEST_INDIVIDUAL)
-        if(WIN32)
-            set(WIN_PATH "$ENV{PATH}")
-            get_target_property(LINK_LIBRARIES_ ${test} LINK_LIBRARIES)
-            if(NOT "${LINK_LIBRARIES_}" STREQUAL "LINK_LIBRARIES_-NOTFOUND")
-                foreach(LIBRARY_LINKED ${LINK_LIBRARIES_})
-                    if(TARGET ${LIBRARY_LINKED})
-                        set(WIN_PATH "$<TARGET_FILE_DIR:${LIBRARY_LINKED}>;${WIN_PATH}")
-                    endif()
-                endforeach()
-            endif()
-            foreach(DEP ${GTEST_DEPENDENCIES})
-                set(WIN_PATH "$<TARGET_FILE_DIR:${DEP}>;${WIN_PATH}")
-            endforeach()
-            string(REPLACE ";" "\\;" WIN_PATH "${WIN_PATH}")
-        endif()
-
-        foreach(GTEST_SOURCE_FILE ${GTEST_SOURCES})
-            file(STRINGS ${GTEST_SOURCE_FILE} GTEST_NAMES REGEX ^TEST)
-            foreach(GTEST_NAME ${GTEST_NAMES})
-                string(REGEX REPLACE ["\) \(,"] ";" GTEST_NAME ${GTEST_NAME})
-                list(GET GTEST_NAME 1 GTEST_GROUP_NAME)
-                list(GET GTEST_NAME 3 GTEST_NAME)
-                add_test(NAME ${GTEST_GROUP_NAME}.${GTEST_NAME}
-                    COMMAND ${test}
-                    --gtest_filter=${GTEST_GROUP_NAME}.${GTEST_NAME})
-
-                # Add environment
-                if(WIN32)
-                    set_property(TEST ${GTEST_GROUP_NAME}.${GTEST_NAME} APPEND PROPERTY ENVIRONMENT "PATH=${WIN_PATH}")
-                endif()
-
-                foreach(property ${GTEST_ENVIRONMENTS})
-                    set_property(TEST ${GTEST_GROUP_NAME}.${GTEST_NAME} APPEND PROPERTY ENVIRONMENT "${property}")
-                endforeach()
-            endforeach()
-        endforeach()
-    else()
-        add_test(NAME ${test} COMMAND ${test})
-
-        # Add environment
-        if(WIN32)
-            set(WIN_PATH "$ENV{PATH}")
-            get_target_property(LINK_LIBRARIES_ ${test} LINK_LIBRARIES)
-            if(NOT "${LINK_LIBRARIES_}" STREQUAL "LINK_LIBRARIES_-NOTFOUND")
-                foreach(LIBRARY_LINKED ${LINK_LIBRARIES_})
-                    if(TARGET ${LIBRARY_LINKED})
-                        set(WIN_PATH "$<TARGET_FILE_DIR:${LIBRARY_LINKED}>;${WIN_PATH}")
-                    endif()
-                endforeach()
-            endif()
-            foreach(DEP ${GTEST_DEPENDENCIES})
-                set(WIN_PATH "$<TARGET_FILE_DIR:${DEP}>;${WIN_PATH}")
-            endforeach()
-            string(REPLACE ";" "\\;" WIN_PATH "${WIN_PATH}")
-            set_property(TEST ${test} APPEND PROPERTY ENVIRONMENT "PATH=${WIN_PATH}")
-        endif()
-
-        foreach(property ${GTEST_ENVIRONMENTS})
-            set_property(TEST ${test} APPEND PROPERTY ENVIRONMENT "${property}")
-        endforeach()
-    endif()
-endmacro()
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/dev/generate_msvc_libraries.cmake b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/dev/generate_msvc_libraries.cmake
deleted file mode 100644
index c0d7eb484..000000000
--- a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/dev/generate_msvc_libraries.cmake
+++ /dev/null
@@ -1,83 +0,0 @@
-# Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-macro(generate_msvc_libraries platform)
-    string(SUBSTRING "${platform}" 0 8 arch_)
-    string(SUBSTRING "${platform}" 8 -1 vstool_)
-    string(COMPARE EQUAL "${arch_}" "x64Win64" IS_X64)
-    string(COMPARE EQUAL "${vstool_}" "VS2013" IS_VS2013)
-    string(COMPARE EQUAL "${vstool_}" "VS2015" IS_VS2015)
-    string(COMPARE EQUAL "${vstool_}" "VS2017" IS_VS2017)
-    string(SUBSTRING "${CMAKE_GENERATOR}" 0 21 generator_)
-
-    if(IS_X64)
-        set(generator_ "${generator_} Win64")
-    endif()
-
-    if(IS_VS2013)
-        set(toolset_ "v120")
-    elseif(IS_VS2015)
-        set(toolset_ "v140")
-    elseif(IS_VS2017)
-        set(toolset_ "v141")
-    else()
-        message(FATAL_ERROR "Lexical error defining platform. Trying to use platform \"${platform}\"")
-    endif()
-
-    add_custom_target(${PROJECT_NAME}_${platform}_dir
-        COMMAND ${CMAKE_COMMAND} -E make_directory "${PROJECT_BINARY_DIR}/eprosima_installer/${platform}"
-        )
-
-    add_custom_target(${PROJECT_NAME}_${platform}_dir_static
-        COMMAND ${CMAKE_COMMAND} -E make_directory "${PROJECT_BINARY_DIR}/eprosima_installer/${platform}_static")
-
-    add_custom_target(${PROJECT_NAME}_${platform} ALL
-        COMMAND ${CMAKE_COMMAND} -G "${generator_}" -T "${toolset_}" -DEPROSIMA_BUILD=ON -DEPROSIMA_INSTALLER_MINION=ON -DCMAKE_INSTALL_PREFIX:PATH=${PROJECT_BINARY_DIR}/eprosima_installer/${platform}/install ${PROJECT_SOURCE_DIR}
-        COMMAND ${CMAKE_COMMAND} --build . --target install --config Release
-        COMMAND ${CMAKE_COMMAND} --build . --target install --config Debug
-        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}/eprosima_installer/${platform}
-        )
-
-    add_custom_target(${PROJECT_NAME}_${platform}_static ALL
-        COMMAND ${CMAKE_COMMAND} -G "${generator_}" -T "${toolset_}" -DBUILD_SHARED_LIBS=OFF -DEPROSIMA_BUILD=ON -DEPROSIMA_INSTALLER_MINION=ON -DCMAKE_INSTALL_PREFIX:PATH=${PROJECT_BINARY_DIR}/eprosima_installer/${platform}/install ${PROJECT_SOURCE_DIR}
-        COMMAND ${CMAKE_COMMAND} --build . --target install --config Release
-        COMMAND ${CMAKE_COMMAND} --build . --target install --config Debug
-        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}/eprosima_installer/${platform}_static
-        )
-
-    add_dependencies(${PROJECT_NAME}_${platform} ${PROJECT_NAME}_${platform}_dir)
-    add_dependencies(${PROJECT_NAME}_${platform}_static ${PROJECT_NAME}_${platform}_dir_static)
-endmacro()
-
-macro(install_msvc_libraries platform)
-    install(DIRECTORY ${PROJECT_BINARY_DIR}/eprosima_installer/${platform}/install/${BIN_INSTALL_DIR}/
-        DESTINATION ${BIN_INSTALL_DIR}
-        COMPONENT libraries_${platform}
-        )
-
-    install(DIRECTORY ${PROJECT_BINARY_DIR}/eprosima_installer/${platform}/install/${LIB_INSTALL_DIR}/
-        DESTINATION ${LIB_INSTALL_DIR}
-        COMPONENT libraries_${platform}
-        )
-
-    install(DIRECTORY ${PROJECT_BINARY_DIR}/eprosima_installer/${platform}/install/${DATA_INSTALL_DIR}/
-        DESTINATION ${DATA_INSTALL_DIR}
-        COMPONENT cmake
-        )
-
-    string(TOUPPER "${platform}" ${platform}_UPPER)
-    set(CPACK_COMPONENT_LIBRARIES_${${platform}_UPPER}_DISPLAY_NAME "${platform}" PARENT_SCOPE)
-    set(CPACK_COMPONENT_LIBRARIES_${${platform}_UPPER}_DESCRIPTION "eProsima ${PROJECT_NAME_LARGE} libraries for platform ${platform}" PARENT_SCOPE)
-    set(CPACK_COMPONENT_LIBRARIES_${${platform}_UPPER}_GROUP "Libraries" PARENT_SCOPE)
-endmacro()
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/dev/set_sources.cmake b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/dev/set_sources.cmake
deleted file mode 100644
index 5702aa5cc..000000000
--- a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/dev/set_sources.cmake
+++ /dev/null
@@ -1,46 +0,0 @@
-# Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-macro(set_sources)
-    set(${PROJECT_NAME}_SOURCES
-        ${ARGN}
-        )
-
-    set_property(GLOBAL PROPERTY ${PROJECT_NAME}_SOURCES_PROPERTY ${${PROJECT_NAME}_SOURCES})
-endmacro()
-
-macro(set_public_headers_directory abs_directory rel_directory)
-
-    install(DIRECTORY ${abs_directory}/${rel_directory}
-        ${ARGN}
-        FILES_MATCHING
-        PATTERN "*.h"
-        PATTERN "*.hpp"
-        )
-
-    get_property(${PROJECT_NAME}_PUBLIC_HEADERS_DIRECTORIES GLOBAL PROPERTY ${PROJECT_NAME}_PUBLIC_HEADERS_DIRECTORIES_PROPERTY)
-    set(${PROJECT_NAME}_PUBLIC_HEADERS_DIRECTORIES ${${PROJECT_NAME}_PUBLIC_HEADERS_DIRECTORIES} ${abs_directory})
-    set_property(GLOBAL PROPERTY ${PROJECT_NAME}_PUBLIC_HEADERS_DIRECTORIES_PROPERTY ${${PROJECT_NAME}_PUBLIC_HEADERS_DIRECTORIES})
-
-endmacro()
-
-macro(set_public_header abs_directory rel_directory file)
-    install(FILES ${abs_directory}/${rel_directory}/${file}
-        ${ARGN}
-        )
-
-    get_property(${PROJECT_NAME}_PUBLIC_HEADERS_FILES GLOBAL PROPERTY ${PROJECT_NAME}_PUBLIC_HEADERS_FILES_PROPERTY)
-    set(${PROJECT_NAME}_PUBLIC_HEADERS_FILES ${${PROJECT_NAME}_PUBLIC_HEADERS_FILES} ${rel_directory}/${file})
-    set_property(GLOBAL PROPERTY ${PROJECT_NAME}_PUBLIC_HEADERS_FILES_PROPERTY ${${PROJECT_NAME}_PUBLIC_HEADERS_FILES})
-endmacro()
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/Config.cmake.in b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/Config.cmake.in
index f5ff8b058..510075a5d 100644
--- a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/Config.cmake.in
+++ b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/Config.cmake.in
@@ -22,12 +22,58 @@ endif()
 set_and_check(@PROJECT_NAME@_INCLUDE_DIR "@PACKAGE_INCLUDE_INSTALL_DIR@")
 set_and_check(@PROJECT_NAME@_LIB_DIR "@PACKAGE_LIB_INSTALL_DIR@")
 
-if(FASTDDS_STATIC)
-    include(${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@-static-targets.cmake)
-else()
-    include(${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@-dynamic-targets.cmake OPTIONAL RESULT_VARIABLE DYNAMIC_TARGET_FILE)
-    # fallback to static linking if dynamic target is missing
-    if( NOT DYNAMIC_TARGET_FILE )
-        include(${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@-static-targets.cmake)
-    endif()
-endif()
+set(fastcdr_known_comps static shared)
+set(fastcdr_comp_static NO)
+set(fastcdr_comp_shared NO)
+foreach (fastcdr_comp IN LISTS ${CMAKE_FIND_PACKAGE_NAME}_FIND_COMPONENTS)
+    if (fastcdr_comp IN_LIST fastcdr_known_comps)
+        set(fastcdr_comp_${fastcdr_comp} YES)
+    else ()
+        set(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE
+            "fastcdr does not recognize component `${fastcdr_comp}`.")
+        set(${CMAKE_FIND_PACKAGE_NAME}_FOUND FALSE)
+        return()
+    endif ()
+endforeach ()
+
+if (fastcdr_comp_static AND fastcdr_comp_shared)
+    set(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE
+        "fastcdr `static` and `shared` components are mutually exclusive.")
+    set(${CMAKE_FIND_PACKAGE_NAME}_FOUND FALSE)
+    return()
+endif ()
+
+set(fastcdr_static_targets "${CMAKE_CURRENT_LIST_DIR}/fastcdr-static-targets.cmake")
+set(fastcdr_shared_targets "${CMAKE_CURRENT_LIST_DIR}/fastcdr-shared-targets.cmake")
+
+macro(fastcdr_load_targets type)
+    if (NOT EXISTS "${fastcdr_${type}_targets}")
+        set(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE
+            "fastcdr `${type}` libraries were requested but not found.")
+        set(${CMAKE_FIND_PACKAGE_NAME}_FOUND FALSE)
+        return()
+    endif ()
+    include("${fastcdr_${type}_targets}")
+endmacro()
+
+if (fastcdr_comp_static)
+    fastcdr_load_targets(static)
+elseif (fastcdr_comp_shared)
+    fastcdr_load_targets(shared)
+elseif (DEFINED fastcdr_SHARED_LIBS AND fastcdr_SHARED_LIBS)
+    fastcdr_load_targets(shared)
+elseif (DEFINED fastcdr_SHARED_LIBS AND NOT fastcdr_SHARED_LIBS)
+    fastcdr_load_targets(static)
+elseif (BUILD_SHARED_LIBS)
+    if (EXISTS "${fastcdr_shared_targets}")
+        fastcdr_load_targets(shared)
+    else ()
+        fastcdr_load_targets(static)
+    endif ()
+else ()
+    if (EXISTS "${fastcdr_static_targets}")
+        fastcdr_load_targets(static)
+    else ()
+        fastcdr_load_targets(shared)
+    endif ()
+endif ()
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/eProsimaPackaging.cmake b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/eProsimaPackaging.cmake
deleted file mode 100644
index 39880bcdc..000000000
--- a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/eProsimaPackaging.cmake
+++ /dev/null
@@ -1,68 +0,0 @@
-# Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-###############################################################################
-# Set common CPACK variables.
-###############################################################################
-
-set(CPACK_PACKAGE_NAME ${PROJECT_NAME})
-
-set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "${CPACK_PACKAGE_NAME} - ${${PROJECT_NAME}_DESCRIPTION_SUMMARY}")
-
-set(CPACK_PACKAGE_DESCRIPTION "${${PROJECT_NAME}_DESCRIPTION}")
-
-set(CPACK_PACKAGE_VENDOR "eProsima")
-set(CPACK_PACKAGE_CONTACT "eProsima Support <support@eprosima.com>")
-
-set(CPACK_PACKAGE_VERSION_MAJOR ${PROJECT_VERSION_MAJOR})
-set(CPACK_PACKAGE_VERSION_MINOR ${PROJECT_VERSION_MINOR})
-set(CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VERSION_PATCH})
-set(CPACK_PACKAGE_VERSION ${PROJECT_VERSION})
-
-set(CPACK_RESOURCE_FILE_LICENSE "${PROJECT_SOURCE_DIR}/LICENSE")
-
-set(CPACK_COMPONENT_CMAKE_HIDDEN 1)
-set(CPACK_COMPONENTS_ALL ${CPACK_COMPONENTS_ALL} cmake)
-
-###############################################################################
-# Platform and architecture dependant
-###############################################################################
-if(WIN32)
-    set(CPACK_GENERATOR NSIS)
-
-    configure_file(${PROJECT_SOURCE_DIR}/cmake/packaging/windows/WindowsPackaging.cmake.in ${PROJECT_BINARY_DIR}/cmake/packaging/windows/WindowsPackaging.cmake @ONLY)
-    configure_file(${PROJECT_SOURCE_DIR}/cmake/packaging/windows/NSISPackaging.cmake.in ${PROJECT_BINARY_DIR}/cmake/packaging/windows/NSISPackaging.cmake @ONLY)
-
-    # Update CMAKE_MODULE_PATH to find NSIS.template.in
-    set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/cmake/packaging/windows")
-
-    # Set cpack project config file.
-    set(CPACK_PROJECT_CONFIG_FILE ${PROJECT_BINARY_DIR}/cmake/packaging/windows/WindowsPackaging.cmake)
-elseif(${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
-    set(CPACK_GENERATOR TGZ)
-    set(CPACK_SOURCE_GENERATOR TGZ)
-
-    # Prepare specific cmake scripts
-    configure_file(${PROJECT_SOURCE_DIR}/cmake/packaging/linux/LinuxPackaging.cmake.in ${PROJECT_BINARY_DIR}/cmake/packaging/linux/LinuxPackaging.cmake @ONLY)
-    configure_file(${PROJECT_SOURCE_DIR}/cmake/packaging/linux/AutotoolsPackaging.cmake.in ${PROJECT_BINARY_DIR}/cmake/packaging/linux/AutotoolsPackaging.cmake @ONLY)
-
-    # Prepare scripts for autotools
-    include(${PROJECT_SOURCE_DIR}/cmake/packaging/linux/autotools_generator_utility.cmake)
-    generate_autotools_generator_script()
-
-    # Set cpack project config file.
-    set(CPACK_PROJECT_CONFIG_FILE ${PROJECT_BINARY_DIR}/cmake/packaging/linux/LinuxPackaging.cmake)
-endif()
-
-include(CPack)
\ No newline at end of file
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/linux/AutotoolsPackaging.cmake.in b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/linux/AutotoolsPackaging.cmake.in
deleted file mode 100644
index a4b23c5e5..000000000
--- a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/linux/AutotoolsPackaging.cmake.in
+++ /dev/null
@@ -1,44 +0,0 @@
-# Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-# Copy configure.ac
-file(INSTALL @PROJECT_SOURCE_DIR@/configure.ac
-    DESTINATION @PROJECT_BINARY_DIR@/autotools
-    )
-
-# Copy m4 diretory
-file(INSTALL @PROJECT_SOURCE_DIR@/m4
-    DESTINATION @PROJECT_BINARY_DIR@/autotools
-    )
-
-# Create include/@PROJECT_NAME@
-file(MAKE_DIRECTORY @PROJECT_BINARY_DIR@/autotools/include/@PROJECT_NAME@)
-
-# Run autoreconf
-execute_process(COMMAND autoreconf -fi @PROJECT_BINARY_DIR@/autotools
-    RESULT_VARIABLE EXECUTE_RESULT)
-
-if(NOT EXECUTE_RESULT EQUAL 0)
-    message(FATAL_ERROR "Failed the execution of autoreconf")
-endif()
-
-# Copy include/@PROJECT_NAME@/config.h.in
-file(INSTALL @PROJECT_SOURCE_DIR@/include/@PROJECT_NAME@/config.h.in
-    DESTINATION @PROJECT_BINARY_DIR@/autotools/include/@PROJECT_NAME@
-    )
-
-# Copy licenses
-file(INSTALL @PROJECT_SOURCE_DIR@/LICENSE
-    DESTINATION @PROJECT_BINARY_DIR@/autotools
-    )
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/linux/LinuxPackaging.cmake.in b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/linux/LinuxPackaging.cmake.in
deleted file mode 100644
index 514b5d1c7..000000000
--- a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/linux/LinuxPackaging.cmake.in
+++ /dev/null
@@ -1,45 +0,0 @@
-# Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-set(PROJECT_NAME @PROJECT_NAME@)
-set(PROJECT_NAME_STYLED @PROJECT_NAME_STYLED@)
-set(PROJECT_NAME_UPPER @PROJECT_NAME_UPPER@)
-set(PROJECT_VERSION_AUTOTOOLS @PROJECT_VERSION_MAJOR@:@PROJECT_VERSION_MINOR@:@PROJECT_VERSION_PATCH@)
-
-if(${CPACK_GENERATOR} STREQUAL "TGZ" )
-    if(${CPACK_TOPLEVEL_TAG} STREQUAL "Linux")
-        # Define name of the TGZ file
-        set(CPACK_PACKAGE_FILE_NAME eProsima_${PROJECT_NAME_STYLED}-@PROJECT_VERSION@-Linux)
-        set(CPACK_COMPONENTS_ALL headers sources)
-        set(CPACK_ARCHIVE_COMPONENT_INSTALL ON)
-        set(CPACK_COMPONENTS_ALL_IN_ONE_PACKAGE ON)
-
-        # Include to prepare Makefiles
-        include(@PROJECT_BINARY_DIR@/cmake/packaging/linux/autotools_generator.cmake) 
-
-        # Prepare Makefile.am for autotools
-        configure_file(@PROJECT_SOURCE_DIR@/Makefile.am.in @PROJECT_BINARY_DIR@/autotools/Makefile.am)
-
-        # Prepare src/cpp/Makefile.am for autotools
-        generate_sources_for_autotools()
-        configure_file(@PROJECT_SOURCE_DIR@/src/cpp/Makefile.am.in @PROJECT_BINARY_DIR@/autotools/src/cpp/Makefile.am)
-
-        # Prepare include/Makefile.am for autotools
-        generate_public_headers_for_autotools()
-        configure_file(@PROJECT_SOURCE_DIR@/include/Makefile.am.in @PROJECT_BINARY_DIR@/autotools/include/Makefile.am)
-
-        # Define cmake script to copy autotools files.
-        set(CPACK_INSTALL_SCRIPT "@PROJECT_BINARY_DIR@/cmake/packaging/linux/AutotoolsPackaging.cmake")
-    endif()
-endif()
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/linux/autotools_generator.cmake.in b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/linux/autotools_generator.cmake.in
deleted file mode 100644
index 938d08195..000000000
--- a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/linux/autotools_generator.cmake.in
+++ /dev/null
@@ -1,38 +0,0 @@
-# Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-macro(generate_sources_for_autotools)
-    set(@PROJECT_NAME@_SOURCES_TMP @@PROJECT_NAME@_SOURCES@)
-    set(@PROJECT_NAME@_SOURCES_AUTOTOOLS "")
-    foreach(@PROJECT_NAME@_SOURCE ${@PROJECT_NAME@_SOURCES_TMP})
-        set(@PROJECT_NAME@_SOURCES_AUTOTOOLS "${@PROJECT_NAME@_SOURCES_AUTOTOOLS} ${@PROJECT_NAME@_SOURCE}")
-    endforeach()
-endmacro()
-
-macro(generate_public_headers_for_autotools)
-    set(@PROJECT_NAME@_PUBLIC_HEADERS_DIRECTORIES_TMP @@PROJECT_NAME@_PUBLIC_HEADERS_DIRECTORIES@)
-    set(@PROJECT_NAME@_PUBLIC_HEADERS_AUTOTOOLS "")
-    foreach(directory ${@PROJECT_NAME@_PUBLIC_HEADERS_DIRECTORIES_TMP})
-        file(GLOB_RECURSE @PROJECT_NAME@_PUBLIC_HEADERS_TMP RELATIVE ${directory} ${directory}/*.h)
-        foreach(@PROJECT_NAME@_PUBLIC_HEADER ${@PROJECT_NAME@_PUBLIC_HEADERS_TMP})
-            set(@PROJECT_NAME@_PUBLIC_HEADERS_AUTOTOOLS "${@PROJECT_NAME@_PUBLIC_HEADERS_AUTOTOOLS} ${@PROJECT_NAME@_PUBLIC_HEADER}")
-        endforeach()
-    endforeach()
-
-    set(@PROJECT_NAME@_PUBLIC_HEADERS_FILES_TMP @@PROJECT_NAME@_PUBLIC_HEADERS_FILES@)
-    foreach(file ${@PROJECT_NAME@_PUBLIC_HEADERS_FILES_TMP})
-        set(@PROJECT_NAME@_PUBLIC_HEADERS_AUTOTOOLS "${@PROJECT_NAME@_PUBLIC_HEADERS_AUTOTOOLS} ${file}")
-    endforeach()
-endmacro()
-
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/linux/autotools_generator_utility.cmake b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/linux/autotools_generator_utility.cmake
deleted file mode 100644
index ddfd30f8c..000000000
--- a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/linux/autotools_generator_utility.cmake
+++ /dev/null
@@ -1,21 +0,0 @@
-# Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-macro(generate_autotools_generator_script)
-    get_property(${PROJECT_NAME}_SOURCES GLOBAL PROPERTY ${PROJECT_NAME}_SOURCES_PROPERTY)
-    get_property(${PROJECT_NAME}_PUBLIC_HEADERS_DIRECTORIES GLOBAL PROPERTY ${PROJECT_NAME}_PUBLIC_HEADERS_DIRECTORIES_PROPERTY)
-    get_property(${PROJECT_NAME}_PUBLIC_HEADERS_FILES GLOBAL PROPERTY ${PROJECT_NAME}_PUBLIC_HEADERS_FILES_PROPERTY)
-    configure_file(${PROJECT_SOURCE_DIR}/cmake/packaging/linux/autotools_generator.cmake.in ${PROJECT_BINARY_DIR}/cmake/packaging/linux/autotools_generator.cmake.in @ONLY)
-    configure_file(${PROJECT_BINARY_DIR}/cmake/packaging/linux/autotools_generator.cmake.in ${PROJECT_BINARY_DIR}/cmake/packaging/linux/autotools_generator.cmake @ONLY)
-endmacro()
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/windows/EnvVarPage.nsh.in b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/windows/EnvVarPage.nsh.in
deleted file mode 100644
index b9411f245..000000000
--- a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/windows/EnvVarPage.nsh.in
+++ /dev/null
@@ -1,427 +0,0 @@
-# Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-!include nsDialogs.nsh
-!include LogicLib.nsh
-!include EnvVarUpdate.nsh
-
-Var Dialog
-Var FirstTime
-
-Var Label
-
-Var CheckboxHOME
-Var CheckboxHOME_State
-
-Var CheckboxRadioButtons
-Var CheckboxRadioButtons_State
-
-Var GroupBoxRadioButton
-
-Var RadioButtonX64_VS2010
-Var RadioButtonX64_VS2010_State
-
-Var RadioButtonI86_VS2010
-Var RadioButtonI86_VS2010_State
-
-Var RadioButtonX64_VS2013
-Var RadioButtonX64_VS2013_State
-
-Var RadioButtonI86_VS2013
-Var RadioButtonI86_VS2013_State
-
-Var RadioButtonX64_VS2015
-Var RadioButtonX64_VS2015_State
-
-Var RadioButtonI86_VS2015
-Var RadioButtonI86_VS2015_State
-
-LangString PAGE_TITLE ${LANG_ENGLISH} "Environment variables setting"
-LangString PAGE_SUBTITLE ${LANG_ENGLISH} "Choose which environment variables you want to set."
-
-Function VariablesEntornoPage
-
-    !insertmacro MUI_HEADER_TEXT $(PAGE_TITLE) $(PAGE_SUBTITLE)
-
-    nsDialogs::Create 1018
-    Pop $Dialog
-
-    ${If} $Dialog == error
-        Abort
-    ${EndIf}
-       
-    ### Creaci�n de los elementos gr�ficos    
-    ${NSD_CreateLabel} 0 0 100% 20u "Check the environment variables you want to set and uncheck the environment variables you don't want to set. Click Next to continue."
-    Pop $Label
-
-    ${NSD_CreateCheckbox} 10 20u 100% 12u "Set the @PROJECT_NAME_UPPER@HOME environment variable."
-    Pop $CheckboxHOME
-    ${If} $CheckboxHOME_State == ${BST_CHECKED}
-        ${NSD_Check} $CheckboxHOME
-    ${EndIf}
-        
-	${NSD_CreateCheckbox} 10 32u 100% 12u "&Add to the PATH the location of eProsima @PROJECT_NAME_LARGE@ libraries."
-    Pop $CheckboxRadioButtons
-
-    ### La primera vez que lanzamos el instalador, el checkbox de HOME
-    ### y el de SCRIPTS deben estar marcados. 
-    StrCmp $FirstTime "FirstTime" jumpfirsttime 0 ### Si son iguales las cadenas, GOTO +5, si no, GOTO 0
-        ${NSD_Check} $CheckboxHOME
-		${NSD_Check} $CheckboxRadioButtons
-        ${NSD_GetState} $CheckboxHOME $CheckboxHOME_State
-		${NSD_GetState} $CheckboxRadioButtons $CheckboxRadioButtons_State
-        StrCpy $FirstTime "FirstTime"
-
-    jumpfirsttime:
-
-    Call CheckRadioButtons
-
-	!define lib_radio_x 30
-	!define lib_radio_height 15u
-	!define lib_radio_y_0 52u
-	!define lib_radio_y_1 67u
-	!define lib_radio_y_2 82u
-	!define lib_radio_y_3 97u
-	!define lib_radio_y_4 112u
-	!define lib_radio_y_5 127u
-
-	; GroupBox 1     
-	${NSD_CreateGroupBox} 20 44u 90% 97u "Select the configuration:" 
-	Pop $GroupBoxRadioButton   
-	#Pop $GB_Ar1 
-
-    ${If} ${RunningX64}
-		 ${NSD_CreateRadioButton} ${lib_radio_x} ${lib_radio_y_0} 50% ${lib_radio_height} "&x64 VS2015 platforms."
-        Pop $RadioButtonX64_VS2015  
-        ### Fijamos los callbacks para cuando se haga click en los RadioButtones
-		${NSD_OnClick} $RadioButtonX64_VS2015 ClickX64_VS2015  
-
-		 ${NSD_CreateRadioButton} ${lib_radio_x} ${lib_radio_y_1} 50% ${lib_radio_height} "&x64 VS2013 platforms."
-        Pop $RadioButtonX64_VS2013  
-        ### Fijamos los callbacks para cuando se haga click en los RadioButtones
-		${NSD_OnClick} $RadioButtonX64_VS2013 ClickX64_VS2013  
-	
-        ${NSD_CreateRadioButton} ${lib_radio_x} ${lib_radio_y_2} 50% ${lib_radio_height} "&x64 VS2010 platforms."
-        Pop $RadioButtonX64_VS2010  
-        ### Fijamos los callbacks para cuando se haga click en los RadioButtones
-		${NSD_OnClick} $RadioButtonX64_VS2010 ClickX64_VS2010  
-
-		${NSD_CreateRadioButton} ${lib_radio_x} ${lib_radio_y_3} 50% ${lib_radio_height} "&i86 VS2015 platforms."
-        Pop $RadioButtonI86_VS2015
-		${NSD_CreateRadioButton} ${lib_radio_x} ${lib_radio_y_4} 50% ${lib_radio_height} "&i86 VS2013 platforms."
-        Pop $RadioButtonI86_VS2013
-        ${NSD_CreateRadioButton} ${lib_radio_x} ${lib_radio_y_5} 50% ${lib_radio_height} "&i86 VS2010 platforms."
-        Pop $RadioButtonI86_VS2010
-		
-		Call EnableRadioX64
-		Call EnableRadioI86	
-    ${Else}
-		${NSD_CreateRadioButton} ${lib_radio_x} ${lib_radio_y_0} 50% ${lib_radio_height} "&i86 VS2015 platforms."
-		Pop $RadioButtonI86_VS2015
-		${NSD_CreateRadioButton} ${lib_radio_x} ${lib_radio_y_1} 50% ${lib_radio_height} "&i86 VS2013 platforms."
-		Pop $RadioButtonI86_VS2013
-        ${NSD_CreateRadioButton} ${lib_radio_x} ${lib_radio_y_2} 50% ${lib_radio_height} "&i86 VS2010 platforms."
-        Pop $RadioButtonI86_VS2010
-		
-		Call EnableRadioI86	
-    ${EndIf}
-        
-    ### Fijamos los callbacks para cuando se haga click en los CheckBoxes
-    ${NSD_OnClick} $CheckboxHOME ClickHOME 
-	${NSD_OnClick} $CheckboxRadioButtons ClickCheckboxRadioButtons
-	${NSD_OnClick} $RadioButtonI86_VS2015 ClickI86_VS2015 
-	${NSD_OnClick} $RadioButtonI86_VS2013 ClickI86_VS2013 
-    ${NSD_OnClick} $RadioButtonI86_VS2010 ClickI86_VS2010  
-	
-	Call SelectDefaultBestConfiguration
-
-    nsDialogs::Show
-FunctionEnd
-
-### Callback invocado cuando se pulsa el CheckBox HOME
-### Guardamos el estado en la variable _state
-Function ClickHOME
-    ${NSD_GetState} $CheckboxHOME $CheckboxHOME_State
-FunctionEnd
-
-Function ClickCheckboxRadioButtons
-    ${NSD_GetState} $CheckboxRadioButtons $CheckboxRadioButtons_State
-	${If} $CheckboxRadioButtons_State == 0
-		 EnableWindow $RadioButtonX64_VS2010 0
-		 EnableWindow $RadioButtonI86_VS2010 0
-		 EnableWindow $RadioButtonX64_VS2013 0
-		 EnableWindow $RadioButtonI86_VS2013 0
-		 EnableWindow $RadioButtonX64_VS2015 0
-		 EnableWindow $RadioButtonI86_VS2015 0
-		 
-		 ${NSD_SetState} $RadioButtonX64_VS2010 0
-		 ${NSD_SetState} $RadioButtonI86_VS2010 0
-		 ${NSD_SetState} $RadioButtonX64_VS2013 0
-		 ${NSD_SetState} $RadioButtonI86_VS2013 0
-		 ${NSD_SetState} $RadioButtonX64_VS2015 0
-		 ${NSD_SetState} $RadioButtonI86_VS2015 0
-
-		 ${NSD_GetState} $RadioButtonI86_VS2010 $RadioButtonI86_VS2010_State
-		 ${NSD_GetState} $RadioButtonX64_VS2010 $RadioButtonX64_VS2010_State
-		 ${NSD_GetState} $RadioButtonX64_VS2013 $RadioButtonX64_VS2013_State
-		 ${NSD_GetState} $RadioButtonI86_VS2013 $RadioButtonI86_VS2013_State
-		 ${NSD_GetState} $RadioButtonI86_VS2015 $RadioButtonI86_VS2015_State
-		 ${NSD_GetState} $RadioButtonX64_VS2015 $RadioButtonX64_VS2015_State
-	${ElseIf} $CheckboxRadioButtons_State == 1
-		Call EnableRadioX64
-		Call EnableRadioI86
-		Call SelectDefaultBestConfiguration
-	${EndIf}
-FunctionEnd
-
-### Callback invocado cuando se pulsa el CheckBox x64
-### Sirve para deshabilitar el i86, pues no pueden aparecer a la vez
-### Tambien guardamos el estado en la variable _state
-Function ClickX64_VS2010
-    Call ResetStates
-    Pop $RadioButtonX64_VS2010
-    ${NSD_GetState} $RadioButtonX64_VS2010 $RadioButtonX64_VS2010_State
-FunctionEnd
-
-### Callback invocado cuando se pulsa el CheckBox i86
-### Sirve para deshabilitar el x64, pues no pueden aparecer a la vez
-### Tambien guardamos el estado en la variable _state
-Function ClickI86_VS2010
-    Call ResetStates
-    Pop $RadioButtonI86_VS2010
-    ${NSD_GetState} $RadioButtonI86_VS2010 $RadioButtonI86_VS2010_State
-FunctionEnd
-
-### Callback invocado cuando se pulsa el CheckBox x64 VS2013
-### Sirve para deshabilitar el i86 2013, pues no pueden aparecer a la vez
-### Tambien guardamos el estado en la variable _state
-Function ClickX64_VS2013
-    Call ResetStates
-    Pop $RadioButtonX64_VS2013
-    ${NSD_GetState} $RadioButtonX64_VS2013 $RadioButtonX64_VS2013_State
-FunctionEnd
-
-### Callback invocado cuando se pulsa el CheckBox i86
-### Sirve para deshabilitar el x64, pues no pueden aparecer a la vez
-### Tambien guardamos el estado en la variable _state
-Function ClickI86_VS2013
-    Call ResetStates
-    Pop $RadioButtonI86_VS2013
-    ${NSD_GetState} $RadioButtonI86_VS2013 $RadioButtonI86_VS2013_State
-FunctionEnd
-
-### Callback invocado cuando se pulsa el CheckBox x64
-### Sirve para deshabilitar el i86, pues no pueden aparecer a la vez
-### Tambien guardamos el estado en la variable _state
-Function ClickX64_VS2015
-    Call ResetStates
-    Pop $RadioButtonX64_VS2015
-    ${NSD_GetState} $RadioButtonX64_VS2015 $RadioButtonX64_VS2015_State
-FunctionEnd
-
-### Callback invocado cuando se pulsa el CheckBox i86
-### Sirve para deshabilitar el x64, pues no pueden aparecer a la vez
-### Tambien guardamos el estado en la variable _state
-Function ClickI86_VS2015
-    Call ResetStates
-    Pop $RadioButtonI86_VS2015
-    ${NSD_GetState} $RadioButtonI86_VS2015 $RadioButtonI86_VS2015_State
-FunctionEnd
-
-Function ResetStates
-    Push  0
-    Pop $RadioButtonX64_VS2010_State
-    Push  0
-    Pop $RadioButtonI86_VS2010_State
-    Push  0
-    Pop $RadioButtonX64_VS2013_State
-    Push  0
-    Pop $RadioButtonI86_VS2013_State
-    Push  0
-    Pop $RadioButtonX64_VS2015_State
-    Push  0
-    Pop $RadioButtonI86_VS2015_State
-FunctionEnd
-
-Function SelectDefaultBestConfiguration
-	${If} $CheckboxRadioButtons_State == 1
-		${If} ${SectionIsSelected} ${libraries_x64Win64VS2015}
-			${NSD_SetState} $RadioButtonX64_VS2015 1
-			${NSD_GetState} $RadioButtonX64_VS2015 $RadioButtonX64_VS2015_State
-		${ElseIf} ${SectionIsSelected} ${libraries_x64Win64VS2013}
-			${NSD_SetState} $RadioButtonX64_VS2013 1
-			${NSD_GetState} $RadioButtonX64_VS2013 $RadioButtonX64_VS2013_State
-		${ElseIf} ${SectionIsSelected} ${libraries_x64Win64VS2010}	
-			${NSD_SetState} $RadioButtonX64_VS2010 1
-			${NSD_GetState} $RadioButtonX64_VS2010 $RadioButtonX64_VS2010_State
-		${ElseIf} ${SectionIsSelected} ${libraries_i86Win32VS2015}	
-			${NSD_SetState} $RadioButtonI86_VS2015 1
-			${NSD_GetState} $RadioButtonI86_VS2015 $RadioButtonI86_VS2015_State		
-		${ElseIf} ${SectionIsSelected} ${libraries_i86Win32VS2013}	
-			${NSD_SetState} $RadioButtonI86_VS2013 1
-			${NSD_GetState} $RadioButtonI86_VS2013 $RadioButtonI86_VS2013_State
-		${ElseIf} ${SectionIsSelected} ${libraries_i86Win32VS2010}	
-			${NSD_SetState} $RadioButtonI86_VS2010 1
-			${NSD_GetState} $RadioButtonI86_VS2010 $RadioButtonI86_VS2010_State		
-		${EndIf}
-	${EndIf}
-FunctionEnd
-
-Function CheckRadioButtons
-   ${If} ${SectionIsSelected} ${libraries}
-   ${OrIf} ${SectionIsPartiallySelected} ${libraries}
-        EnableWindow $CheckboxRadioButtons 1
-        ${If} $CheckboxRadioButtons_State == 1
-            ${NSD_Check} $CheckboxRadioButtons
-        ${EndIf}
-    ${Else}
-        EnableWindow $CheckboxRadioButtons 0
-		${NSD_SetState} $CheckboxRadioButtons 0
-    ${EndIf}
-       
-FunctionEnd
-
-Function EnableRadioX64
-	${If} ${RunningX64}
-		${If} $CheckboxRadioButtons_State == 1
-			${If} ${SectionIsSelected} ${libraries_x64Win64VS2015}
-				EnableWindow $RadioButtonX64_VS2015 1	
-			${Else}
-				EnableWindow $RadioButtonX64_VS2015 0
-			${EndIf}
-			${If} ${SectionIsSelected} ${libraries_x64Win64VS2013}
-				EnableWindow $RadioButtonX64_VS2013 1	
-			${Else}
-				EnableWindow $RadioButtonX64_VS2013 0
-			${EndIf}
-			${If} ${SectionIsSelected} ${libraries_x64Win64VS2010}
-				EnableWindow $RadioButtonX64_VS2010 1	
-			${Else}
-				EnableWindow $RadioButtonX64_VS2010 0
-			${EndIf}
-		${Else}
-			EnableWindow $RadioButtonX64_VS2015 0
-			EnableWindow $RadioButtonX64_VS2013 0
-			EnableWindow $RadioButtonX64_VS2010 0
-		${EndIf}
-	${EndIf}
-FunctionEnd
-
-Function EnableRadioI86
-	${If} $CheckboxRadioButtons_State == 1
-		${If} ${SectionIsSelected} ${libraries_i86Win32VS2015}
-			EnableWindow $RadioButtonI86_VS2015 1
-		${Else}
-			EnableWindow $RadioButtonI86_VS2015 0
-		${EndIf}
-		${If} ${SectionIsSelected} ${libraries_i86Win32VS2013}
-			EnableWindow $RadioButtonI86_VS2013 1	
-		${Else}
-			EnableWindow $RadioButtonI86_VS2013 0
-		${EndIf}
-		${If} ${SectionIsSelected} ${libraries_i86Win32VS2010}
-			EnableWindow $RadioButtonI86_VS2010 1	
-		${Else}
-			EnableWindow $RadioButtonI86_VS2010 0
-		${EndIf}
-	${Else}
-		EnableWindow $RadioButtonI86_VS2015 0
-		EnableWindow $RadioButtonI86_VS2013 0
-		EnableWindow $RadioButtonI86_VS2010 0
-	${EndIf}
-FunctionEnd
-
-Function InstallVarEnvs
-    ### Actualizamos las variables de entorno que se hayan marcado
-    ${If} $CheckboxHOME_State == ${BST_CHECKED}
-       ${EnvVarUpdate} $0 "@PROJECT_NAME_UPPER@HOME" "P" "HKLM" "$INSTDIR"
-       WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "@PROJECT_NAME_UPPER@HOME" 1
-    ${EndIf}
-    ${If} ${SectionIsSelected} ${libraries_x64Win64VS2010}
-        ${If} $RadioButtonX64_VS2010_State == ${BST_CHECKED}
-             ${EnvVarUpdate} $0 "PATH" "A" "HKLM" "$INSTDIR\bin\x64Win64VS2010"
-             WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "x64Win64VS2010 libraries location" 1
-        ${EndIf}
-    ${EndIf}
-    ${If} ${SectionIsSelected} ${libraries_i86Win32VS2010}
-        ${If} $RadioButtonI86_VS2010_State == ${BST_CHECKED}
-             ${EnvVarUpdate} $0 "PATH" "A" "HKLM" "$INSTDIR\bin\i86Win32VS2010"
-             WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "i86Win32VS2010 libraries location" 1
-        ${EndIf}
-    ${EndIf}
-    ${If} ${SectionIsSelected} ${libraries_x64Win64VS2013}
-        ${If} $RadioButtonX64_VS2013_State == ${BST_CHECKED}
-             ${EnvVarUpdate} $0 "PATH" "A" "HKLM" "$INSTDIR\bin\x64Win64VS2013"
-             WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "x64Win64VS2013 libraries location" 1
-        ${EndIf}
-    ${EndIf}
-    ${If} ${SectionIsSelected} ${libraries_i86Win32VS2013}
-        ${If} $RadioButtonI86_VS2013_State == ${BST_CHECKED}
-             ${EnvVarUpdate} $0 "PATH" "A" "HKLM" "$INSTDIR\bin\i86Win32VS2013"
-             WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "i86Win32VS2013 libraries location" 1
-        ${EndIf}
-    ${EndIf}
-    ${If} ${SectionIsSelected} ${libraries_x64Win64VS2015}
-        ${If} $RadioButtonX64_VS2015_State == ${BST_CHECKED}
-             ${EnvVarUpdate} $0 "PATH" "A" "HKLM" "$INSTDIR\bin\x64Win64VS2015"
-             WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "x64Win64VS2015 libraries location" 1
-        ${EndIf}
-    ${EndIf}
-    ${If} ${SectionIsSelected} ${libraries_i86Win32VS2015}
-        ${If} $RadioButtonI86_VS2015_State == ${BST_CHECKED}
-             ${EnvVarUpdate} $0 "PATH" "A" "HKLM" "$INSTDIR\bin\i86Win32VS2015"
-             WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "i86Win32VS2015 libraries location" 1
-        ${EndIf}
-    ${EndIf}
-FunctionEnd
-
-Var RegKeyCheck
-
-!macro UninstallVarEnvs
-  ReadRegStr $RegKeyCheck HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "@PROJECT_NAME_UPPER@HOME"
-  ${If} $RegKeyCheck == 1
-    DeleteRegValue HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "@PROJECT_NAME_UPPER@HOME"
-    ${un.EnvVarUpdate} $0 "@PROJECT_NAME_UPPER@HOME" "R" "HKLM" "$INSTDIR"
-  ${EndIf}
-  ReadRegStr $RegKeyCheck HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "x64Win64VS2010 libraries location"
-  ${If} $RegKeyCheck == 1
-    DeleteRegValue HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "x64Win64VS2010 libraries location"
-    ${un.EnvVarUpdate} $0 "PATH" "R" "HKLM" "$INSTDIR\bin\x64Win64VS2010"
-  ${EndIf}
-  ReadRegStr $RegKeyCheck HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "i86Win32VS2010 libraries location"
-  ${If} $RegKeyCheck == 1
-    DeleteRegValue HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "i86Win32VS2010 libraries location"
-    ${un.EnvVarUpdate} $0 "PATH" "R" "HKLM" "$INSTDIR\bin\i86Win32VS2010"
-  ${EndIf}
-  ReadRegStr $RegKeyCheck HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "x64Win64VS2013 libraries location"
-  ${If} $RegKeyCheck == 1
-    DeleteRegValue HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "x64Win64VS2013 libraries location"
-    ${un.EnvVarUpdate} $0 "PATH" "R" "HKLM" "$INSTDIR\bin\x64Win64VS2013"
-  ${EndIf}
-  ReadRegStr $RegKeyCheck HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "i86Win32VS2013 libraries location"
-  ${If} $RegKeyCheck == 1
-    DeleteRegValue HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "i86Win32VS2013 libraries location"
-    ${un.EnvVarUpdate} $0 "PATH" "R" "HKLM" "$INSTDIR\bin\i86Win32VS2013"
-  ${EndIf}
-  ReadRegStr $RegKeyCheck HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "x64Win64VS2015 libraries location"
-  ${If} $RegKeyCheck == 1
-    DeleteRegValue HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "x64Win64VS2015 libraries location"
-    ${un.EnvVarUpdate} $0 "PATH" "R" "HKLM" "$INSTDIR\bin\x64Win64VS2015"
-  ${EndIf}
-  ReadRegStr $RegKeyCheck HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "i86Win32VS2015 libraries location"
-  ${If} $RegKeyCheck == 1
-    DeleteRegValue HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "i86Win32VS2015 libraries location"
-    ${un.EnvVarUpdate} $0 "PATH" "R" "HKLM" "$INSTDIR\bin\i86Win32VS2015"
-  ${EndIf}
-!macroend
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/windows/EnvVarPage_one_arch.nsh.in b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/windows/EnvVarPage_one_arch.nsh.in
deleted file mode 100644
index 3620a37e3..000000000
--- a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/windows/EnvVarPage_one_arch.nsh.in
+++ /dev/null
@@ -1,123 +0,0 @@
-# Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-!include nsDialogs.nsh
-!include LogicLib.nsh
-!include EnvVarUpdate.nsh
-
-Var Dialog
-Var FirstTime
-
-Var Label
-
-Var CheckboxHOME
-Var CheckboxHOME_State
-
-Var CheckboxRadioButtons
-Var CheckboxRadioButtons_State
-
-LangString PAGE_TITLE ${LANG_ENGLISH} "Environment variables setting"
-LangString PAGE_SUBTITLE ${LANG_ENGLISH} "Choose which environment variables you want to set."
-
-Function VariablesEntornoPage
-
-    !insertmacro MUI_HEADER_TEXT $(PAGE_TITLE) $(PAGE_SUBTITLE)
-
-    nsDialogs::Create 1018
-    
-    Pop $Dialog
-
-    ${If} $Dialog == error
-        Abort
-    ${EndIf}
-       
-    ### Creación de los elementos gráficos    
-    ${NSD_CreateLabel} 0 0 100% 20u "Check the environment variables you want to set and uncheck the environment variables you don't want to set. Click Next to continue."
-    Pop $Label
-
-    ${NSD_CreateCheckbox} 10 20u 100% 12u "Set the @PROJECT_NAME_UPPER@HOME environment variable."
-    Pop $CheckboxHOME
-    ${If} $CheckboxHOME_State == ${BST_CHECKED}
-        ${NSD_Check} $CheckboxHOME
-    ${EndIf}
-        
-	${NSD_CreateCheckbox} 10 40u 100% 15u "&Add to the PATH the location of eProsima @PROJECT_NAME_LARGE@ libraries for platform @MSVC_ARCH@."
-    Pop $CheckboxRadioButtons
-    ${If} $CheckboxRadioButtons_State == ${BST_CHECKED}
-        ${NSD_Check} $CheckboxRadioButtons
-    ${EndIf}
-
-    ### La primera vez que lanzamos el instalador, el checkbox de HOME
-    ### y el de SCRIPTS deben estar marcados. 
-    StrCmp $FirstTime "FirstTime" jumpfirsttime 0 ### Si son iguales las cadenas, GOTO +5, si no, GOTO 0
-        ${NSD_Check} $CheckboxHOME
-		${NSD_Check} $CheckboxRadioButtons
-        ${NSD_GetState} $CheckboxHOME $CheckboxHOME_State
-		${NSD_GetState} $CheckboxRadioButtons $CheckboxRadioButtons_State
-        StrCpy $FirstTime "FirstTime"
-
-    jumpfirsttime:
-
-    ${If} ${SectionIsSelected} ${libraries_@MSVC_ARCH@}
-      EnableWindow $CheckboxRadioButtons 1	
-    ${Else}
-      EnableWindow $CheckboxRadioButtons 0
-      ${EndIf}
-
-    ### Fijamos los callbacks para cuando se haga click en los CheckBoxes
-    ${NSD_OnClick} $CheckboxHOME ClickHOME 
-	${NSD_OnClick} $CheckboxRadioButtons ClickCheckboxRadioButtons
-	
-    nsDialogs::Show
-FunctionEnd
-
-### Callback invocado cuando se pulsa el CheckBox HOME
-### Guardamos el estado en la variable _state
-Function ClickHOME
-    ${NSD_GetState} $CheckboxHOME $CheckboxHOME_State
-FunctionEnd
-
-Function ClickCheckboxRadioButtons
-    ${NSD_GetState} $CheckboxRadioButtons $CheckboxRadioButtons_State
-FunctionEnd
-
-Function InstallVarEnvs
-    ### Actualizamos las variables de entorno que se hayan marcado
-    ${If} $CheckboxHOME_State == ${BST_CHECKED}
-       ${EnvVarUpdate} $0 "@PROJECT_NAME_UPPER@HOME" "P" "HKLM" "$INSTDIR"
-       WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "@PROJECT_NAME_UPPER@HOME" 1
-    ${EndIf}
-    ${If} ${SectionIsSelected} ${libraries_@MSVC_ARCH@}
-      ${If} $CheckboxRadioButtons_State == ${BST_CHECKED}
-         ${EnvVarUpdate} $0 "PATH" "A" "HKLM" "$INSTDIR\lib@MSVC_ARCH_DIR@"
-         WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "@MSVC_ARCH@ libraries location" 1
-      ${EndIf}
-    ${EndIf}
-FunctionEnd
-
-Var RegKeyCheck
-
-!macro UninstallVarEnvs
-  ReadRegStr $RegKeyCheck HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "@PROJECT_NAME_UPPER@HOME"
-  ${If} $RegKeyCheck == 1
-    DeleteRegValue HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "@PROJECT_NAME_UPPER@HOME"
-    ${un.EnvVarUpdate} $0 "@PROJECT_NAME_UPPER@HOME" "R" "HKLM" "$INSTDIR"
-  ${EndIf}
-  ReadRegStr $RegKeyCheck HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "@MSVC_ARCH@ libraries location"
-  ${If} $RegKeyCheck == 1
-    DeleteRegValue HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "@MSVC_ARCH@ libraries location"
-    ${un.EnvVarUpdate} $0 "PATH" "R" "HKLM" "$INSTDIR\lib@MSVC_ARCH_DIR@"
-  ${EndIf}
-!macroend
-
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/windows/EnvVarUpdate.nsh b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/windows/EnvVarUpdate.nsh
deleted file mode 100644
index 39682000c..000000000
--- a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/windows/EnvVarUpdate.nsh
+++ /dev/null
@@ -1,327 +0,0 @@
-/**
- *  EnvVarUpdate.nsh
- *    : Environmental Variables: append, prepend, and remove entries
- *
- *     WARNING: If you use StrFunc.nsh header then include it before this file
- *              with all required definitions. This is to avoid conflicts
- *
- *  Usage:
- *    ${EnvVarUpdate} "ResultVar" "EnvVarName" "Action" "RegLoc" "PathString"
- *
- *  Credits:
- *  Version 1.0 
- *  * Cal Turney (turnec2)
- *  * Amir Szekely (KiCHiK) and e-circ for developing the forerunners of this
- *    function: AddToPath, un.RemoveFromPath, AddToEnvVar, un.RemoveFromEnvVar,
- *    WriteEnvStr, and un.DeleteEnvStr
- *  * Diego Pedroso (deguix) for StrTok
- *  * Kevin English (kenglish_hi) for StrContains
- *  * Hendri Adriaens (Smile2Me), Diego Pedroso (deguix), and Dan Fuhry  
- *    (dandaman32) for StrReplace
- *
- *  Version 1.1 (compatibility with StrFunc.nsh)
- *  * techtonik
- *
- *  http://nsis.sourceforge.net/Environmental_Variables:_append%2C_prepend%2C_and_remove_entries
- *
- */
-
-
-!ifndef ENVVARUPDATE_FUNCTION
-!define ENVVARUPDATE_FUNCTION
-!verbose push
-!verbose 3
-!include "LogicLib.nsh"
-!include "WinMessages.NSH"
-!include "StrFunc.nsh"
-
-; ---- Fix for conflict if StrFunc.nsh is already includes in main file -----------------------
-!macro _IncludeStrFunction StrFuncName
-  !ifndef ${StrFuncName}_INCLUDED
-    ${${StrFuncName}}
-  !endif
-  !ifndef Un${StrFuncName}_INCLUDED
-    ${Un${StrFuncName}}
-  !endif
-  !define un.${StrFuncName} "${Un${StrFuncName}}"
-!macroend
-
-!insertmacro _IncludeStrFunction StrTok
-!insertmacro _IncludeStrFunction StrStr
-!insertmacro _IncludeStrFunction StrRep
-
-; ---------------------------------- Macro Definitions ----------------------------------------
-!macro _EnvVarUpdateConstructor ResultVar EnvVarName Action Regloc PathString
-  Push "${EnvVarName}"
-  Push "${Action}"
-  Push "${RegLoc}"
-  Push "${PathString}"
-    Call EnvVarUpdate
-  Pop "${ResultVar}"
-!macroend
-!define EnvVarUpdate '!insertmacro "_EnvVarUpdateConstructor"'
- 
-!macro _unEnvVarUpdateConstructor ResultVar EnvVarName Action Regloc PathString
-  Push "${EnvVarName}"
-  Push "${Action}"
-  Push "${RegLoc}"
-  Push "${PathString}"
-    Call un.EnvVarUpdate
-  Pop "${ResultVar}"
-!macroend
-!define un.EnvVarUpdate '!insertmacro "_unEnvVarUpdateConstructor"'
-; ---------------------------------- Macro Definitions end-------------------------------------
- 
-;----------------------------------- EnvVarUpdate start----------------------------------------
-!define hklm_all_users     'HKLM "SYSTEM\CurrentControlSet\Control\Session Manager\Environment"'
-!define hkcu_current_user  'HKCU "Environment"'
- 
-!macro EnvVarUpdate UN
- 
-Function ${UN}EnvVarUpdate
- 
-  Push $0
-  Exch 4
-  Exch $1
-  Exch 3
-  Exch $2
-  Exch 2
-  Exch $3
-  Exch
-  Exch $4
-  Push $5
-  Push $6
-  Push $7
-  Push $8
-  Push $9
-  Push $R0
- 
-  /* After this point:
-  -------------------------
-     $0 = ResultVar     (returned)
-     $1 = EnvVarName    (input)
-     $2 = Action        (input)
-     $3 = RegLoc        (input)
-     $4 = PathString    (input)
-     $5 = Orig EnvVar   (read from registry)
-     $6 = Len of $0     (temp)
-     $7 = tempstr1      (temp)
-     $8 = Entry counter (temp)
-     $9 = tempstr2      (temp)
-     $R0 = tempChar     (temp)  */
- 
-  ; Step 1:  Read contents of EnvVarName from RegLoc
-  ;
-  ; Check for empty EnvVarName
-  ${If} $1 == ""
-    SetErrors
-    DetailPrint "ERROR: EnvVarName is blank"
-    Goto EnvVarUpdate_Restore_Vars
-  ${EndIf}
- 
-  ; Check for valid Action
-  ${If}    $2 != "A"
-  ${AndIf} $2 != "P"
-  ${AndIf} $2 != "R"
-    SetErrors
-    DetailPrint "ERROR: Invalid Action - must be A, P, or R"
-    Goto EnvVarUpdate_Restore_Vars
-  ${EndIf}
- 
-  ${If} $3 == HKLM
-    ReadRegStr $5 ${hklm_all_users} $1     ; Get EnvVarName from all users into $5
-  ${ElseIf} $3 == HKCU
-    ReadRegStr $5 ${hkcu_current_user} $1  ; Read EnvVarName from current user into $5
-  ${Else}
-    SetErrors
-    DetailPrint 'ERROR: Action is [$3] but must be "HKLM" or HKCU"'
-    Goto EnvVarUpdate_Restore_Vars
-  ${EndIf}
- 
-  ; Check for empty PathString
-  ${If} $4 == ""
-    SetErrors
-    DetailPrint "ERROR: PathString is blank"
-    Goto EnvVarUpdate_Restore_Vars
-  ${EndIf}
- 
-  ; Make sure we've got some work to do
-  ${If} $5 == ""
-  ${AndIf} $2 == "R"
-    SetErrors
-    DetailPrint "$1 is empty - Nothing to remove"
-    Goto EnvVarUpdate_Restore_Vars
-  ${EndIf}
- 
-  ; Step 2: Scrub EnvVar
-  ;
-  StrCpy $0 $5                             ; Copy the contents to $0
-  ; Remove spaces around semicolons (NOTE: spaces before the 1st entry or
-  ; after the last one are not removed here but instead in Step 3)
-  ${If} $0 != ""                           ; If EnvVar is not empty ...
-    ${Do}
-      ${${UN}StrStr} $7 $0 " ;"
-      ${If} $7 == ""
-        ${ExitDo}
-      ${EndIf}
-      ${${UN}StrRep} $0  $0 " ;" ";"         ; Remove '<space>;'
-    ${Loop}
-    ${Do}
-      ${${UN}StrStr} $7 $0 "; "
-      ${If} $7 == ""
-        ${ExitDo}
-      ${EndIf}
-      ${${UN}StrRep} $0  $0 "; " ";"         ; Remove ';<space>'
-    ${Loop}
-    ${Do}
-      ${${UN}StrStr} $7 $0 ";;" 
-      ${If} $7 == ""
-        ${ExitDo}
-      ${EndIf}
-      ${${UN}StrRep} $0  $0 ";;" ";"
-    ${Loop}
- 
-    ; Remove a leading or trailing semicolon from EnvVar
-    StrCpy  $7  $0 1 0
-    ${If} $7 == ";"
-      StrCpy $0  $0 "" 1                   ; Change ';<EnvVar>' to '<EnvVar>'
-    ${EndIf}
-    StrLen $6 $0
-    IntOp $6 $6 - 1
-    StrCpy $7  $0 1 $6
-    ${If} $7 == ";"
-     StrCpy $0  $0 $6                      ; Change ';<EnvVar>' to '<EnvVar>'
-    ${EndIf}
-    ; DetailPrint "Scrubbed $1: [$0]"      ; Uncomment to debug
-  ${EndIf}
- 
-  /* Step 3. Remove all instances of the target path/string (even if "A" or "P")
-     $6 = bool flag (1 = found and removed PathString)
-     $7 = a string (e.g. path) delimited by semicolon(s)
-     $8 = entry counter starting at 0
-     $9 = copy of $0
-     $R0 = tempChar      */
- 
-  ${If} $5 != ""                           ; If EnvVar is not empty ...
-    StrCpy $9 $0
-    StrCpy $0 ""
-    StrCpy $8 0
-    StrCpy $6 0
- 
-    ${Do}
-      ${${UN}StrTok} $7 $9 ";" $8 "0"      ; $7 = next entry, $8 = entry counter
- 
-      ${If} $7 == ""                       ; If we've run out of entries,
-        ${ExitDo}                          ;    were done
-      ${EndIf}                             ;
- 
-      ; Remove leading and trailing spaces from this entry (critical step for Action=Remove)
-      ${Do}
-        StrCpy $R0  $7 1
-        ${If} $R0 != " "
-          ${ExitDo}
-        ${EndIf}
-        StrCpy $7   $7 "" 1                ;  Remove leading space
-      ${Loop}
-      ${Do}
-        StrCpy $R0  $7 1 -1
-        ${If} $R0 != " "
-          ${ExitDo}
-        ${EndIf}
-        StrCpy $7   $7 -1                  ;  Remove trailing space
-      ${Loop}
-      ${If} $7 == $4                       ; If string matches, remove it by not appending it
-        StrCpy $6 1                        ; Set 'found' flag
-      ${ElseIf} $7 != $4                   ; If string does NOT match
-      ${AndIf}  $0 == ""                   ;    and the 1st string being added to $0,
-        StrCpy $0 $7                       ;    copy it to $0 without a prepended semicolon
-      ${ElseIf} $7 != $4                   ; If string does NOT match
-      ${AndIf}  $0 != ""                   ;    and this is NOT the 1st string to be added to $0,
-        StrCpy $0 $0;$7                    ;    append path to $0 with a prepended semicolon
-      ${EndIf}                             ;
- 
-      IntOp $8 $8 + 1                      ; Bump counter
-    ${Loop}                                ; Check for duplicates until we run out of paths
-  ${EndIf}
- 
-  ; Step 4:  Perform the requested Action
-  ;
-  ${If} $2 != "R"                          ; If Append or Prepend
-    ${If} $6 == 1                          ; And if we found the target
-      DetailPrint "Target is already present in $1. It will be removed and"
-    ${EndIf}
-    ${If} $0 == ""                         ; If EnvVar is (now) empty
-      StrCpy $0 $4                         ;   just copy PathString to EnvVar
-      ${If} $6 == 0                        ; If found flag is either 0
-      ${OrIf} $6 == ""                     ; or blank (if EnvVarName is empty)
-        DetailPrint "$1 was empty and has been updated with the target"
-      ${EndIf}
-    ${ElseIf} $2 == "A"                    ;  If Append (and EnvVar is not empty),
-      StrCpy $0 $0;$4                      ;     append PathString
-      ${If} $6 == 1
-        DetailPrint "appended to $1"
-      ${Else}
-        DetailPrint "Target was appended to $1"
-      ${EndIf}
-    ${Else}                                ;  If Prepend (and EnvVar is not empty),
-      StrCpy $0 $4;$0                      ;     prepend PathString
-      ${If} $6 == 1
-        DetailPrint "prepended to $1"
-      ${Else}
-        DetailPrint "Target was prepended to $1"
-      ${EndIf}
-    ${EndIf}
-  ${Else}                                  ; If Action = Remove
-    ${If} $6 == 1                          ;   and we found the target
-      DetailPrint "Target was found and removed from $1"
-    ${Else}
-      DetailPrint "Target was NOT found in $1 (nothing to remove)"
-    ${EndIf}
-    ${If} $0 == ""
-      DetailPrint "$1 is now empty"
-    ${EndIf}
-  ${EndIf}
- 
-  ; Step 5:  Update the registry at RegLoc with the updated EnvVar and announce the change
-  ;
-  ClearErrors
-  ${If} $3  == HKLM
-    WriteRegExpandStr ${hklm_all_users} $1 $0     ; Write it in all users section
-  ${ElseIf} $3 == HKCU
-    WriteRegExpandStr ${hkcu_current_user} $1 $0  ; Write it to current user section
-  ${EndIf}
- 
-  IfErrors 0 +4
-    MessageBox MB_OK|MB_ICONEXCLAMATION "Could not write updated $1 to $3"
-    DetailPrint "Could not write updated $1 to $3"
-    Goto EnvVarUpdate_Restore_Vars
- 
-  ; "Export" our change
-  SendMessage ${HWND_BROADCAST} ${WM_WININICHANGE} 0 "STR:Environment" /TIMEOUT=5000
- 
-  EnvVarUpdate_Restore_Vars:
-  ;
-  ; Restore the user's variables and return ResultVar
-  Pop $R0
-  Pop $9
-  Pop $8
-  Pop $7
-  Pop $6
-  Pop $5
-  Pop $4
-  Pop $3
-  Pop $2
-  Pop $1
-  Push $0  ; Push my $0 (ResultVar)
-  Exch
-  Pop $0   ; Restore his $0
- 
-FunctionEnd
- 
-!macroend   ; EnvVarUpdate UN
-!insertmacro EnvVarUpdate ""
-!insertmacro EnvVarUpdate "un."
-;----------------------------------- EnvVarUpdate end----------------------------------------
- 
-!verbose pop
-!endif
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/windows/InstallRedistributables.nsh b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/windows/InstallRedistributables.nsh
deleted file mode 100644
index d8c876dd9..000000000
--- a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/windows/InstallRedistributables.nsh
+++ /dev/null
@@ -1,180 +0,0 @@
-# Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-!include x64.nsh
-
-Var X64VS2010Needed
-Var I86VS2010Needed
-Var X64VS2013Needed
-Var I86VS2013Needed
-Var X64VS2015Needed
-Var I86VS2015Needed
-
-Function InstallRedistributables
-
-    StrCpy $X64VS2010Needed "1"
-    StrCpy $I86VS2010Needed "1"
-    StrCpy $X64VS2013Needed "1"
-    StrCpy $I86VS2013Needed "1"
-    StrCpy $X64VS2015Needed "1"
-    StrCpy $I86VS2015Needed "1"
-
-    # Check if it is necessary to install to x64VS2010
-    ${If} ${RunningX64}
-        ${If} ${SectionIsSelected} ${libraries_x64Win64VS2010}
-        ${OrIf} ${SectionIsSelected} ${libraries_i86Win32VS2010}
-	    ClearErrors
-            SetRegView 64
-            ReadRegDword $0 HKLM "SOFTWARE\Classes\Installer\Products\1926E8D15D0BCE53481466615F760A7F" "Version"
-            IfErrors 0 VC2010RedistInstalled
-            StrCpy $X64VS2010Needed "0"
-        ${EndIf}
-    ${Else}
-        # Check if it is necessary to install to i86VS2010
-        ${If} ${SectionIsSelected} ${libraries_i86Win32VS2010}
-	    ClearErrors
-            ReadRegDword $0 HKLM "SOFTWARE\Classes\Installer\Products\1D5E3C0FEDA1E123187686FED06E995A" "Version"
-            IfErrors 0 VC2010RedistInstalled
-            StrCpy $I86VS2010Needed "0"
-        ${EndIf}
-    ${EndIf}
-
-    VC2010RedistInstalled:
-
-    # Check if it is necessary to install to x64VS2013
-    ${If} ${RunningX64}
-        ${If} ${SectionIsSelected} ${libraries_x64Win64VS2013}
-        ${OrIf} ${SectionIsSelected} ${libraries_i86Win32VS2013}
-	    ClearErrors
-            SetRegView 64
-            ReadRegStr $0 HKLM "SOFTWARE\Classes\Installer\Dependencies\{050d4fc8-5d48-4b8f-8972-47c82c46020f}" "Version"
-            IfErrors 0 VC2013RedistInstalled
-            StrCpy $X64VS2013Needed "0"
-        ${EndIf}
-    ${Else}
-        # Check if it is necessary to install to i86VS2013
-        ${If} ${SectionIsSelected} ${libraries_i86Win32VS2013}
-	    ClearErrors
-            ReadRegStr $0 HKLM "SOFTWARE\Classes\Installer\Dependencies\{f65db027-aff3-4070-886a-0d87064aabb1}" "Version"
-            IfErrors 0 VC2013RedistInstalled
-            StrCpy $I86VS2013Needed "0"
-        ${EndIf}
-    ${EndIf}
-
-    VC2013RedistInstalled:
-
-    # Check if it is necessary to install to x64VS2015
-    ${If} ${RunningX64}
-        ${If} ${SectionIsSelected} ${libraries_x64Win64VS2015}
-        ${OrIf} ${SectionIsSelected} ${libraries_i86Win32VS2015}
-	    ClearErrors
-            SetRegView 64
-            ReadRegStr $0 HKLM "SOFTWARE\Classes\Installer\Dependencies\{3ee5e5bb-b7cc-4556-8861-a00a82977d6c}" "Version"
-            IfErrors 0 VC2015RedistInstalled
-            StrCpy $X64VS2015Needed "0"
-        ${EndIf}
-    ${Else}
-        # Check if it is necessary to install to i86VS2015
-        ${If} ${SectionIsSelected} ${libraries_i86Win32VS2015}
-	    ClearErrors
-            ReadRegStr $0 HKLM "SOFTWARE\Classes\Installer\Dependencies\{23daf363-3020-4059-b3ae-dc4ad39fed19}" "Version"
-            IfErrors 0 VC2015RedistInstalled
-            StrCpy $I86VS2015Needed "0"
-        ${EndIf}
-    ${EndIf}
-
-    VC2015RedistInstalled:
-
-    ${If} ${RunningX64}
-        StrCmp $X64VS2010Needed "1" notinstall2010 install2010
-    ${Else}
-        StrCmp $I86VS2010Needed "1" notinstall2010 install2010
-    ${EndIf}
-
-    install2010:
-    messageBox MB_YESNO|MB_ICONQUESTION "$(^Name) needs Visual Studio 2010 Redistributable packages.$\nDo you want to download and install them?" IDNO notinstall2010
-
-    ${If} ${RunningX64}
-        NSISdl::download https://download.microsoft.com/download/1/6/5/165255E7-1014-4D0A-B094-B6A430A6BFFC/vcredist_x64.exe $TEMP\vcredist_x64.exe
-        Pop $R0 ; Get the return value
-        StrCmp $R0 "success" 0 +3
-        ExecWait "$TEMP\vcredist_x64.exe"
-        Goto +2
-        MessageBox MB_OK "vcredist_x64.exe download failed: $R0"
-    ${Else}
-        NSISdl::download https://download.microsoft.com/download/1/6/5/165255E7-1014-4D0A-B094-B6A430A6BFFC/vcredist_x86.exe $TEMP\vcredist_x86.exe
-        Pop $R0 ; Get the return value
-        StrCmp $R0 "success" 0 +3
-        ExecWait "$TEMP\vcredist_x86.exe"
-        Goto +2
-        MessageBox MB_OK "vcredist_x86.exe download failed: $R0"
-    ${EndIf}
-
-    notinstall2010:
-
-    ${If} ${RunningX64}
-        StrCmp $X64VS2013Needed "1" notinstall2013 install2013
-    ${Else}
-        StrCmp $I86VS2013Needed "1" notinstall2013 install2013
-    ${EndIf}
-
-    install2013:
-    messageBox MB_YESNO|MB_ICONQUESTION "$(^Name) needs Visual Studio 2013 Redistributable packages.$\nDo you want to download and install them?" IDNO notinstall2013
-
-    ${If} ${RunningX64}
-        NSISdl::download http://download.microsoft.com/download/2/E/6/2E61CFA4-993B-4DD4-91DA-3737CD5CD6E3/vcredist_x64.exe $TEMP\vcredist_x64.exe
-        Pop $R0 ; Get the return value
-        StrCmp $R0 "success" 0 +3
-        ExecWait "$TEMP\vcredist_x64.exe"
-        Goto +2
-        MessageBox MB_OK "vcredist_x64.exe download failed: $R0"
-    ${Else}
-        NSISdl::download http://download.microsoft.com/download/2/E/6/2E61CFA4-993B-4DD4-91DA-3737CD5CD6E3/vcredist_x86.exe $TEMP\vcredist_x86.exe
-        Pop $R0 ; Get the return value
-        StrCmp $R0 "success" 0 +3
-        ExecWait "$TEMP\vcredist_x86.exe"
-        Goto +2
-        MessageBox MB_OK "vcredist_x86.exe download failed: $R0"
-    ${EndIf}
-
-    notinstall2013:
-
-    ${If} ${RunningX64}
-        StrCmp $X64VS2015Needed "1" notinstall2015 install2015
-    ${Else}
-        StrCmp $I86VS2015Needed "1" notinstall2015 install2015
-    ${EndIf}
-
-    install2015:
-    messageBox MB_YESNO|MB_ICONQUESTION "$(^Name) needs Visual Studio 2015 Redistributable packages.$\nDo you want to download and install them?" IDNO notinstall2015
-
-    ${If} ${RunningX64}
-        NSISdl::download http://download.microsoft.com/download/C/E/5/CE514EAE-78A8-4381-86E8-29108D78DBD4/VC_redist.x64.exe $TEMP\vcredist_x64.exe
-        Pop $R0 ; Get the return value
-        StrCmp $R0 "success" 0 +3
-        ExecWait "$TEMP\vcredist_x64.exe"
-        Goto +2
-        MessageBox MB_OK "vcredist_x64.exe download failed: $R0"
-    ${Else}
-        NSISdl::download http://download.microsoft.com/download/C/E/5/CE514EAE-78A8-4381-86E8-29108D78DBD4/VC_redist.x86.exe $TEMP\vcredist_x86.exe
-        Pop $R0 ; Get the return value
-        StrCmp $R0 "success" 0 +3
-        ExecWait "$TEMP\vcredist_x86.exe"
-        Goto +2
-        MessageBox MB_OK "vcredist_x86.exe download failed: $R0"
-    ${EndIf}
-
-    notinstall2015:
-
-FunctionEnd
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/windows/NSIS.template.in b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/windows/NSIS.template.in
deleted file mode 100644
index 6212cf5a5..000000000
--- a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/windows/NSIS.template.in
+++ /dev/null
@@ -1,1029 +0,0 @@
-# Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-; CPack install script designed for a nmake build
-
-;--------------------------------
-; You must define these values
-
-  !define VERSION "@CPACK_PACKAGE_VERSION@"
-  !define PATCH  "@CPACK_PACKAGE_VERSION_PATCH@"
-  !define INST_DIR "@CPACK_TEMPORARY_DIRECTORY@"
-
-;--------------------------------
-;Variables
-
-  Var MUI_TEMP
-  Var STARTMENU_FOLDER
-  Var SV_ALLUSERS
-  Var START_MENU
-  Var DO_NOT_ADD_TO_PATH
-  Var ADD_TO_PATH_ALL_USERS
-  Var ADD_TO_PATH_CURRENT_USER
-  Var INSTALL_DESKTOP
-  Var IS_DEFAULT_INSTALLDIR
-  Var VARPROGRAMFILES
-;--------------------------------
-;Include Modern UI
-
-  !define MUI_STARTMENUPAGE_DEFAULTFOLDER "eProsima\@CPACK_NSIS_DISPLAY_NAME@"
-
-  !include "MUI2.nsh"
-
-;--------------------------------
-;General
-
-  ;Name and file
-  Name "@CPACK_NSIS_PACKAGE_NAME@"
-  OutFile "@CPACK_TOPLEVEL_DIRECTORY@/@CPACK_OUTPUT_FILE_NAME@"
-  VIProductVersion @CPACK_PACKAGE_VERSION@.0
-  VIAddVersionKey ProductName "@CPACK_PACKAGE_NAME@"
-  VIAddVersionKey ProductVersion "@CPACK_PACKAGE_VERSION@"
-  VIAddVersionKey CompanyName "@CPACK_PACKAGE_VENDOR@"
-  VIAddVersionKey CompanyWebsite "@CPACK_PACKAGE_CONTACT@"
-  VIAddVersionKey FileVersion "@CPACK_PACKAGE_VERSION@"
-  VIAddVersionKey FileDescription ""
-  VIAddVersionKey LegalCopyright ""
-
-  ;Set compression
-  SetCompressor @CPACK_NSIS_COMPRESSOR@
-
-  ;Require administrator access
-  RequestExecutionLevel admin
-
-@CPACK_NSIS_DEFINES@
-
-  !include Sections.nsh
-
-;Include detenction of architecture
-  !include "x64.nsh"
-
-;--- Component support macros: ---
-; The code for the add/remove functionality is from:
-;   http://nsis.sourceforge.net/Add/Remove_Functionality
-; It has been modified slightly and extended to provide
-; inter-component dependencies.
-Var AR_SecFlags
-Var AR_RegFlags
-@CPACK_NSIS_SECTION_SELECTED_VARS@
-
-; Loads the "selected" flag for the section named SecName into the
-; variable VarName.
-!macro LoadSectionSelectedIntoVar SecName VarName
- SectionGetFlags ${${SecName}} $${VarName}
- IntOp $${VarName} $${VarName} & ${SF_SELECTED}  ;Turn off all other bits
-!macroend
-
-; Loads the value of a variable... can we get around this?
-!macro LoadVar VarName
-  IntOp $R0 0 + $${VarName}
-!macroend
-
-; Sets the value of a variable
-!macro StoreVar VarName IntValue
-  IntOp $${VarName} 0 + ${IntValue}
-!macroend
-
-!macro InitSection SecName
-  ;  This macro reads component installed flag from the registry and
-  ;changes checked state of the section on the components page.
-  ;Input: section index constant name specified in Section command.
-
-  ClearErrors
-  ;Reading component status from registry
-  ReadRegDWORD $AR_RegFlags HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@\Components\${SecName}" "Installed"
-  IfErrors "default_${SecName}"
-    ;Status will stay default if registry value not found
-    ;(component was never installed)
-  IntOp $AR_RegFlags $AR_RegFlags & ${SF_SELECTED} ;Turn off all other bits
-  SectionGetFlags ${${SecName}} $AR_SecFlags  ;Reading default section flags
-  IntOp $AR_SecFlags $AR_SecFlags & 0xFFFE  ;Turn lowest (enabled) bit off
-  IntOp $AR_SecFlags $AR_RegFlags | $AR_SecFlags      ;Change lowest bit
-
-  ; Note whether this component was installed before
-  !insertmacro StoreVar ${SecName}_was_installed $AR_RegFlags
-  IntOp $R0 $AR_RegFlags & $AR_RegFlags
-
-  ;Writing modified flags
-  SectionSetFlags ${${SecName}} $AR_SecFlags
-
- "default_${SecName}:"
- !insertmacro LoadSectionSelectedIntoVar ${SecName} ${SecName}_selected
-!macroend
-
-!macro FinishSection SecName
-  ;  This macro reads section flag set by user and removes the section
-  ;if it is not selected.
-  ;Then it writes component installed flag to registry
-  ;Input: section index constant name specified in Section command.
-
-  SectionGetFlags ${${SecName}} $AR_SecFlags  ;Reading section flags
-  ;Checking lowest bit:
-  IntOp $AR_SecFlags $AR_SecFlags & ${SF_SELECTED}
-  IntCmp $AR_SecFlags 1 "leave_${SecName}"
-    ;Section is not selected:
-    ;Calling Section uninstall macro and writing zero installed flag
-    !insertmacro "Remove_${${SecName}}"
-    WriteRegDWORD HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@\Components\${SecName}" \
-  "Installed" 0
-    Goto "exit_${SecName}"
-
- "leave_${SecName}:"
-    ;Section is selected:
-    WriteRegDWORD HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@\Components\${SecName}" \
-  "Installed" 1
-
- "exit_${SecName}:"
-!macroend
-
-!macro RemoveSection_CPack SecName
-  ;  This macro is used to call section's Remove_... macro
-  ;from the uninstaller.
-  ;Input: section index constant name specified in Section command.
-
-  !insertmacro "Remove_${${SecName}}"
-!macroend
-
-; Determine whether the selection of SecName changed
-!macro MaybeSelectionChanged SecName
-  !insertmacro LoadVar ${SecName}_selected
-  SectionGetFlags ${${SecName}} $R1
-  IntOp $R1 $R1 & ${SF_SELECTED} ;Turn off all other bits
-
-  ; See if the status has changed:
-  IntCmp $R0 $R1 "${SecName}_unchanged"
-  !insertmacro LoadSectionSelectedIntoVar ${SecName} ${SecName}_selected
-
-  IntCmp $R1 ${SF_SELECTED} "${SecName}_was_selected"
-  !insertmacro "Deselect_required_by_${SecName}"
-  goto "${SecName}_unchanged"
-
-  "${SecName}_was_selected:"
-  !insertmacro "Select_${SecName}_depends"
-
-  "${SecName}_unchanged:"
-!macroend
-;--- End of Add/Remove macros ---
-
-;--------------------------------
-;Interface Settings
-
-  !define MUI_HEADERIMAGE
-  !define MUI_HEADERIMAGE_RIGHT
-  !define MUI_ABORTWARNING
-
-;--------------------------------
-; path functions
-
-!verbose 3
-!include "WinMessages.NSH"
-!verbose 4
-
-;----------------------------------------
-; based upon a script of "Written by KiCHiK 2003-01-18 05:57:02"
-;----------------------------------------
-!verbose 3
-!include "WinMessages.NSH"
-!verbose 4
-;====================================================
-; get_NT_environment
-;     Returns: the selected environment
-;     Output : head of the stack
-;====================================================
-!macro select_NT_profile UN
-Function ${UN}select_NT_profile
-   StrCmp $ADD_TO_PATH_ALL_USERS "1" 0 environment_single
-      DetailPrint "Selected environment for all users"
-      Push "all"
-      Return
-   environment_single:
-      DetailPrint "Selected environment for current user only."
-      Push "current"
-      Return
-FunctionEnd
-!macroend
-!insertmacro select_NT_profile ""
-!insertmacro select_NT_profile "un."
-;----------------------------------------------------
-!define NT_current_env 'HKCU "Environment"'
-!define NT_all_env     'HKLM "SYSTEM\CurrentControlSet\Control\Session Manager\Environment"'
-
-!ifndef WriteEnvStr_RegKey
-  !ifdef ALL_USERS
-    !define WriteEnvStr_RegKey \
-       'HKLM "SYSTEM\CurrentControlSet\Control\Session Manager\Environment"'
-  !else
-    !define WriteEnvStr_RegKey 'HKCU "Environment"'
-  !endif
-!endif
-
-; AddToPath - Adds the given dir to the search path.
-;        Input - head of the stack
-;        Note - Win9x systems requires reboot
-
-Function AddToPath
-  Exch $0
-  Push $1
-  Push $2
-  Push $3
-
-  # don't add if the path doesn't exist
-  IfFileExists "$0\*.*" "" AddToPath_done
-
-  ReadEnvStr $1 PATH
-  ; if the path is too long for a NSIS variable NSIS will return a 0
-  ; length string.  If we find that, then warn and skip any path
-  ; modification as it will trash the existing path.
-  StrLen $2 $1
-  IntCmp $2 0 CheckPathLength_ShowPathWarning CheckPathLength_Done CheckPathLength_Done
-    CheckPathLength_ShowPathWarning:
-    Messagebox MB_OK|MB_ICONEXCLAMATION "Warning! PATH too long installer unable to modify PATH!"
-    Goto AddToPath_done
-  CheckPathLength_Done:
-  Push "$1;"
-  Push "$0;"
-  Call CmakeStrStr
-  Pop $2
-  StrCmp $2 "" "" AddToPath_done
-  Push "$1;"
-  Push "$0\;"
-  Call CmakeStrStr
-  Pop $2
-  StrCmp $2 "" "" AddToPath_done
-  GetFullPathName /SHORT $3 $0
-  Push "$1;"
-  Push "$3;"
-  Call CmakeStrStr
-  Pop $2
-  StrCmp $2 "" "" AddToPath_done
-  Push "$1;"
-  Push "$3\;"
-  Call CmakeStrStr
-  Pop $2
-  StrCmp $2 "" "" AddToPath_done
-
-  Call IsNT
-  Pop $1
-  StrCmp $1 1 AddToPath_NT
-    ; Not on NT
-    StrCpy $1 $WINDIR 2
-    FileOpen $1 "$1\autoexec.bat" a
-    FileSeek $1 -1 END
-    FileReadByte $1 $2
-    IntCmp $2 26 0 +2 +2 # DOS EOF
-      FileSeek $1 -1 END # write over EOF
-    FileWrite $1 "$\r$\nSET PATH=%PATH%;$3$\r$\n"
-    FileClose $1
-    SetRebootFlag true
-    Goto AddToPath_done
-
-  AddToPath_NT:
-    StrCmp $ADD_TO_PATH_ALL_USERS "1" ReadAllKey
-      ReadRegStr $1 ${NT_current_env} "PATH"
-      Goto DoTrim
-    ReadAllKey:
-      ReadRegStr $1 ${NT_all_env} "PATH"
-    DoTrim:
-    StrCmp $1 "" AddToPath_NTdoIt
-      Push $1
-      Call Trim
-      Pop $1
-      StrCpy $0 "$1;$0"
-    AddToPath_NTdoIt:
-      StrCmp $ADD_TO_PATH_ALL_USERS "1" WriteAllKey
-        WriteRegExpandStr ${NT_current_env} "PATH" $0
-        Goto DoSend
-      WriteAllKey:
-        WriteRegExpandStr ${NT_all_env} "PATH" $0
-      DoSend:
-      SendMessage ${HWND_BROADCAST} ${WM_WININICHANGE} 0 "STR:Environment" /TIMEOUT=5000
-
-  AddToPath_done:
-    Pop $3
-    Pop $2
-    Pop $1
-    Pop $0
-FunctionEnd
-
-
-; RemoveFromPath - Remove a given dir from the path
-;     Input: head of the stack
-
-Function un.RemoveFromPath
-  Exch $0
-  Push $1
-  Push $2
-  Push $3
-  Push $4
-  Push $5
-  Push $6
-
-  IntFmt $6 "%c" 26 # DOS EOF
-
-  Call un.IsNT
-  Pop $1
-  StrCmp $1 1 unRemoveFromPath_NT
-    ; Not on NT
-    StrCpy $1 $WINDIR 2
-    FileOpen $1 "$1\autoexec.bat" r
-    GetTempFileName $4
-    FileOpen $2 $4 w
-    GetFullPathName /SHORT $0 $0
-    StrCpy $0 "SET PATH=%PATH%;$0"
-    Goto unRemoveFromPath_dosLoop
-
-    unRemoveFromPath_dosLoop:
-      FileRead $1 $3
-      StrCpy $5 $3 1 -1 # read last char
-      StrCmp $5 $6 0 +2 # if DOS EOF
-        StrCpy $3 $3 -1 # remove DOS EOF so we can compare
-      StrCmp $3 "$0$\r$\n" unRemoveFromPath_dosLoopRemoveLine
-      StrCmp $3 "$0$\n" unRemoveFromPath_dosLoopRemoveLine
-      StrCmp $3 "$0" unRemoveFromPath_dosLoopRemoveLine
-      StrCmp $3 "" unRemoveFromPath_dosLoopEnd
-      FileWrite $2 $3
-      Goto unRemoveFromPath_dosLoop
-      unRemoveFromPath_dosLoopRemoveLine:
-        SetRebootFlag true
-        Goto unRemoveFromPath_dosLoop
-
-    unRemoveFromPath_dosLoopEnd:
-      FileClose $2
-      FileClose $1
-      StrCpy $1 $WINDIR 2
-      Delete "$1\autoexec.bat"
-      CopyFiles /SILENT $4 "$1\autoexec.bat"
-      Delete $4
-      Goto unRemoveFromPath_done
-
-  unRemoveFromPath_NT:
-    StrCmp $ADD_TO_PATH_ALL_USERS "1" unReadAllKey
-      ReadRegStr $1 ${NT_current_env} "PATH"
-      Goto unDoTrim
-    unReadAllKey:
-      ReadRegStr $1 ${NT_all_env} "PATH"
-    unDoTrim:
-    StrCpy $5 $1 1 -1 # copy last char
-    StrCmp $5 ";" +2 # if last char != ;
-      StrCpy $1 "$1;" # append ;
-    Push $1
-    Push "$0;"
-    Call un.CmakeStrStr ; Find `$0;` in $1
-    Pop $2 ; pos of our dir
-    StrCmp $2 "" unRemoveFromPath_done
-      ; else, it is in path
-      # $0 - path to add
-      # $1 - path var
-      StrLen $3 "$0;"
-      StrLen $4 $2
-      StrCpy $5 $1 -$4 # $5 is now the part before the path to remove
-      StrCpy $6 $2 "" $3 # $6 is now the part after the path to remove
-      StrCpy $3 $5$6
-
-      StrCpy $5 $3 1 -1 # copy last char
-      StrCmp $5 ";" 0 +2 # if last char == ;
-        StrCpy $3 $3 -1 # remove last char
-
-      StrCmp $ADD_TO_PATH_ALL_USERS "1" unWriteAllKey
-        WriteRegExpandStr ${NT_current_env} "PATH" $3
-        Goto unDoSend
-      unWriteAllKey:
-        WriteRegExpandStr ${NT_all_env} "PATH" $3
-      unDoSend:
-      SendMessage ${HWND_BROADCAST} ${WM_WININICHANGE} 0 "STR:Environment" /TIMEOUT=5000
-
-  unRemoveFromPath_done:
-    Pop $6
-    Pop $5
-    Pop $4
-    Pop $3
-    Pop $2
-    Pop $1
-    Pop $0
-FunctionEnd
-
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
-; Uninstall sutff
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
-
-###########################################
-#            Utility Functions            #
-###########################################
-
-;====================================================
-; IsNT - Returns 1 if the current system is NT, 0
-;        otherwise.
-;     Output: head of the stack
-;====================================================
-; IsNT
-; no input
-; output, top of the stack = 1 if NT or 0 if not
-;
-; Usage:
-;   Call IsNT
-;   Pop $R0
-;  ($R0 at this point is 1 or 0)
-
-!macro IsNT un
-Function ${un}IsNT
-  Push $0
-  ReadRegStr $0 HKLM "SOFTWARE\Microsoft\Windows NT\CurrentVersion" CurrentVersion
-  StrCmp $0 "" 0 IsNT_yes
-  ; we are not NT.
-  Pop $0
-  Push 0
-  Return
-
-  IsNT_yes:
-    ; NT!!!
-    Pop $0
-    Push 1
-FunctionEnd
-!macroend
-!insertmacro IsNT ""
-!insertmacro IsNT "un."
-
-; CmakeStrStr
-; input, top of stack = string to search for
-;        top of stack-1 = string to search in
-; output, top of stack (replaces with the portion of the string remaining)
-; modifies no other variables.
-;
-; Usage:
-;   Push "this is a long ass string"
-;   Push "ass"
-;   Call CmakeStrStr
-;   Pop $R0
-;  ($R0 at this point is "ass string")
-
-!macro CmakeStrStr un
-Function ${un}CmakeStrStr
-Exch $R1 ; st=haystack,old$R1, $R1=needle
-  Exch    ; st=old$R1,haystack
-  Exch $R2 ; st=old$R1,old$R2, $R2=haystack
-  Push $R3
-  Push $R4
-  Push $R5
-  StrLen $R3 $R1
-  StrCpy $R4 0
-  ; $R1=needle
-  ; $R2=haystack
-  ; $R3=len(needle)
-  ; $R4=cnt
-  ; $R5=tmp
-  loop:
-    StrCpy $R5 $R2 $R3 $R4
-    StrCmp $R5 $R1 done
-    StrCmp $R5 "" done
-    IntOp $R4 $R4 + 1
-    Goto loop
-done:
-  StrCpy $R1 $R2 "" $R4
-  Pop $R5
-  Pop $R4
-  Pop $R3
-  Pop $R2
-  Exch $R1
-FunctionEnd
-!macroend
-!insertmacro CmakeStrStr ""
-!insertmacro CmakeStrStr "un."
-
-Function Trim ; Added by Pelaca
-	Exch $R1
-	Push $R2
-Loop:
-	StrCpy $R2 "$R1" 1 -1
-	StrCmp "$R2" " " RTrim
-	StrCmp "$R2" "$\n" RTrim
-	StrCmp "$R2" "$\r" RTrim
-	StrCmp "$R2" ";" RTrim
-	GoTo Done
-RTrim:
-	StrCpy $R1 "$R1" -1
-	Goto Loop
-Done:
-	Pop $R2
-	Exch $R1
-FunctionEnd
-
-Function ConditionalAddToRegisty
-  Pop $0
-  Pop $1
-  StrCmp "$0" "" ConditionalAddToRegisty_EmptyString
-    WriteRegStr SHCTX "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" \
-    "$1" "$0"
-    ;MessageBox MB_OK "Set Registry: '$1' to '$0'"
-    DetailPrint "Set install registry entry: '$1' to '$0'"
-  ConditionalAddToRegisty_EmptyString:
-FunctionEnd
-
-;--------------------------------
-
-!ifdef CPACK_USES_DOWNLOAD
-Function DownloadFile
-    IfFileExists $INSTDIR\* +2
-    CreateDirectory $INSTDIR
-    Pop $0
-
-    ; Skip if already downloaded
-    IfFileExists $INSTDIR\$0 0 +2
-    Return
-
-    StrCpy $1 "@CPACK_DOWNLOAD_SITE@"
-
-  try_again:
-    NSISdl::download "$1/$0" "$INSTDIR\$0"
-
-    Pop $1
-    StrCmp $1 "success" success
-    StrCmp $1 "Cancelled" cancel
-    MessageBox MB_OK "Download failed: $1"
-  cancel:
-    Return
-  success:
-FunctionEnd
-!endif
-
-;--------------------------------
-; Installation types
-@CPACK_NSIS_INSTALLATION_TYPES@
-
-;--------------------------------
-; Component sections
-@CPACK_NSIS_COMPONENT_SECTIONS@
-
-;Include page for set environment variables
-  !include "EnvVarPage.nsh"
-
-;Include installation of redistributable files.
-  !include InstallRedistributables.nsh
-
-;--------------------------------
-; Define some macro setting for the gui
-@CPACK_NSIS_INSTALLER_MUI_ICON_CODE@
-@CPACK_NSIS_INSTALLER_ICON_CODE@
-@CPACK_NSIS_INSTALLER_MUI_COMPONENTS_DESC@
-@CPACK_NSIS_INSTALLER_MUI_FINISHPAGE_RUN_CODE@
-
-;--------------------------------
-;Pages
-  !insertmacro MUI_PAGE_WELCOME
-
-  !insertmacro MUI_PAGE_LICENSE "@CPACK_RESOURCE_FILE_LICENSE@"
-  Page custom InstallOptionsPage
-  !insertmacro MUI_PAGE_DIRECTORY
-
-  ;Start Menu Folder Page Configuration
-  !define MUI_STARTMENUPAGE_REGISTRY_ROOT "SHCTX"
-  !define MUI_STARTMENUPAGE_REGISTRY_KEY "Software\@CPACK_PACKAGE_VENDOR@\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@"
-  !define MUI_STARTMENUPAGE_REGISTRY_VALUENAME "Start Menu Folder"
-  !insertmacro MUI_PAGE_STARTMENU Application $STARTMENU_FOLDER
-
-  @CPACK_NSIS_PAGE_COMPONENTS@
-
-  Page custom VariablesEntornoPage
-  !insertmacro MUI_PAGE_INSTFILES
-  !insertmacro MUI_PAGE_FINISH
-
-  !insertmacro MUI_UNPAGE_CONFIRM
-  !insertmacro MUI_UNPAGE_INSTFILES
-
-;--------------------------------
-;Languages
-
-  !insertmacro MUI_LANGUAGE "English" ;first language is the default language
-  !insertmacro MUI_LANGUAGE "Albanian"
-  !insertmacro MUI_LANGUAGE "Arabic"
-  !insertmacro MUI_LANGUAGE "Basque"
-  !insertmacro MUI_LANGUAGE "Belarusian"
-  !insertmacro MUI_LANGUAGE "Bosnian"
-  !insertmacro MUI_LANGUAGE "Breton"
-  !insertmacro MUI_LANGUAGE "Bulgarian"
-  !insertmacro MUI_LANGUAGE "Croatian"
-  !insertmacro MUI_LANGUAGE "Czech"
-  !insertmacro MUI_LANGUAGE "Danish"
-  !insertmacro MUI_LANGUAGE "Dutch"
-  !insertmacro MUI_LANGUAGE "Estonian"
-  !insertmacro MUI_LANGUAGE "Farsi"
-  !insertmacro MUI_LANGUAGE "Finnish"
-  !insertmacro MUI_LANGUAGE "French"
-  !insertmacro MUI_LANGUAGE "German"
-  !insertmacro MUI_LANGUAGE "Greek"
-  !insertmacro MUI_LANGUAGE "Hebrew"
-  !insertmacro MUI_LANGUAGE "Hungarian"
-  !insertmacro MUI_LANGUAGE "Icelandic"
-  !insertmacro MUI_LANGUAGE "Indonesian"
-  !insertmacro MUI_LANGUAGE "Irish"
-  !insertmacro MUI_LANGUAGE "Italian"
-  !insertmacro MUI_LANGUAGE "Japanese"
-  !insertmacro MUI_LANGUAGE "Korean"
-  !insertmacro MUI_LANGUAGE "Kurdish"
-  !insertmacro MUI_LANGUAGE "Latvian"
-  !insertmacro MUI_LANGUAGE "Lithuanian"
-  !insertmacro MUI_LANGUAGE "Luxembourgish"
-  !insertmacro MUI_LANGUAGE "Macedonian"
-  !insertmacro MUI_LANGUAGE "Malay"
-  !insertmacro MUI_LANGUAGE "Mongolian"
-  !insertmacro MUI_LANGUAGE "Norwegian"
-  !insertmacro MUI_LANGUAGE "Polish"
-  !insertmacro MUI_LANGUAGE "Portuguese"
-  !insertmacro MUI_LANGUAGE "PortugueseBR"
-  !insertmacro MUI_LANGUAGE "Romanian"
-  !insertmacro MUI_LANGUAGE "Russian"
-  !insertmacro MUI_LANGUAGE "Serbian"
-  !insertmacro MUI_LANGUAGE "SerbianLatin"
-  !insertmacro MUI_LANGUAGE "SimpChinese"
-  !insertmacro MUI_LANGUAGE "Slovak"
-  !insertmacro MUI_LANGUAGE "Slovenian"
-  !insertmacro MUI_LANGUAGE "Spanish"
-  !insertmacro MUI_LANGUAGE "Swedish"
-  !insertmacro MUI_LANGUAGE "Thai"
-  !insertmacro MUI_LANGUAGE "TradChinese"
-  !insertmacro MUI_LANGUAGE "Turkish"
-  !insertmacro MUI_LANGUAGE "Ukrainian"
-  !insertmacro MUI_LANGUAGE "Welsh"
-
-
-;--------------------------------
-;Reserve Files
-
-  ;These files should be inserted before other files in the data block
-  ;Keep these lines before any File command
-  ;Only for solid compression (by default, solid compression is enabled for BZIP2 and LZMA)
-
-  !include "InstallOptions.nsh"
-
-;--------------------------------
-;Installer Sections
-
-Section "-Core installation"
-  ;Use the entire tree produced by the INSTALL target.  Keep the
-  ;list of directories here in sync with the RMDir commands below.
-  SetOutPath "$INSTDIR"
-  @CPACK_NSIS_EXTRA_PREINSTALL_COMMANDS@
-  @CPACK_NSIS_FULL_INSTALL@
-
-  ;Store installation folder
-  WriteRegStr SHCTX "Software\@CPACK_PACKAGE_VENDOR@\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "" $INSTDIR
-
-  ;Create uninstaller
-  WriteUninstaller "$INSTDIR\Uninstall.exe"
-  Push "DisplayName"
-  Push "@CPACK_NSIS_DISPLAY_NAME@"
-  Call ConditionalAddToRegisty
-  Push "DisplayVersion"
-  Push "@CPACK_PACKAGE_VERSION@"
-  Call ConditionalAddToRegisty
-  Push "Publisher"
-  Push "@CPACK_PACKAGE_VENDOR@"
-  Call ConditionalAddToRegisty
-  Push "UninstallString"
-  Push "$INSTDIR\Uninstall.exe"
-  Call ConditionalAddToRegisty
-  Push "NoRepair"
-  Push "1"
-  Call ConditionalAddToRegisty
-
-  !ifdef CPACK_NSIS_ADD_REMOVE
-  ;Create add/remove functionality
-  Push "ModifyPath"
-  Push "$INSTDIR\AddRemove.exe"
-  Call ConditionalAddToRegisty
-  !else
-  Push "NoModify"
-  Push "1"
-  Call ConditionalAddToRegisty
-  !endif
-
-  ; Optional registration
-  Push "DisplayIcon"
-  Push "$INSTDIR\@CPACK_NSIS_INSTALLED_ICON_NAME@"
-  Call ConditionalAddToRegisty
-  Push "HelpLink"
-  Push "@CPACK_NSIS_HELP_LINK@"
-  Call ConditionalAddToRegisty
-  Push "URLInfoAbout"
-  Push "@CPACK_NSIS_URL_INFO_ABOUT@"
-  Call ConditionalAddToRegisty
-  Push "Contact"
-  Push "@CPACK_NSIS_CONTACT@"
-  Call ConditionalAddToRegisty
-  !insertmacro INSTALLOPTIONS_READ $INSTALL_DESKTOP "NSIS.InstallOptions.ini" "Field 5" "State"
-  !insertmacro MUI_STARTMENU_WRITE_BEGIN Application
-
-  ;Create shortcuts
-  CreateDirectory "$SMPROGRAMS\$STARTMENU_FOLDER"
-@CPACK_NSIS_CREATE_ICONS@
-@CPACK_NSIS_CREATE_ICONS_EXTRA@
-  CreateShortCut "$SMPROGRAMS\$STARTMENU_FOLDER\Uninstall.lnk" "$INSTDIR\Uninstall.exe"
-
-  ;Read a value from an InstallOptions INI file
-  !insertmacro INSTALLOPTIONS_READ $DO_NOT_ADD_TO_PATH "NSIS.InstallOptions.ini" "Field 2" "State"
-  !insertmacro INSTALLOPTIONS_READ $ADD_TO_PATH_ALL_USERS "NSIS.InstallOptions.ini" "Field 3" "State"
-  !insertmacro INSTALLOPTIONS_READ $ADD_TO_PATH_CURRENT_USER "NSIS.InstallOptions.ini" "Field 4" "State"
-
-  ; Write special uninstall registry entries
-  Push "StartMenu"
-  Push "$STARTMENU_FOLDER"
-  Call ConditionalAddToRegisty
-  Push "DoNotAddToPath"
-  Push "$DO_NOT_ADD_TO_PATH"
-  Call ConditionalAddToRegisty
-  Push "AddToPathAllUsers"
-  Push "$ADD_TO_PATH_ALL_USERS"
-  Call ConditionalAddToRegisty
-  Push "AddToPathCurrentUser"
-  Push "$ADD_TO_PATH_CURRENT_USER"
-  Call ConditionalAddToRegisty
-  Push "InstallToDesktop"
-  Push "$INSTALL_DESKTOP"
-  Call ConditionalAddToRegisty
-
-  !insertmacro MUI_STARTMENU_WRITE_END
-
-@CPACK_NSIS_EXTRA_INSTALL_COMMANDS@
-
-  call InstallVarEnvs
-
-  call InstallRedistributables
-
-SectionEnd
-
-Section "-Add to path"
-  Push $INSTDIR\bin
-  StrCmp "@CPACK_NSIS_MODIFY_PATH@" "ON" 0 doNotAddToPath
-  StrCmp $DO_NOT_ADD_TO_PATH "1" doNotAddToPath 0
-    Call AddToPath
-  doNotAddToPath:
-SectionEnd
-
-;--------------------------------
-; Create custom pages
-Function InstallOptionsPage
-  !insertmacro MUI_HEADER_TEXT "Install Options" "Choose options for installing @CPACK_NSIS_PACKAGE_NAME@"
-  !insertmacro INSTALLOPTIONS_DISPLAY "NSIS.InstallOptions.ini"
-
-FunctionEnd
-
-;--------------------------------
-; determine admin versus local install
-Function un.onInit
-
-  ClearErrors
-  UserInfo::GetName
-  IfErrors noLM
-  Pop $0
-  UserInfo::GetAccountType
-  Pop $1
-  StrCmp $1 "Admin" 0 +3
-    SetShellVarContext all
-    ;MessageBox MB_OK 'User "$0" is in the Admin group'
-    Goto done
-  StrCmp $1 "Power" 0 +3
-    SetShellVarContext all
-    ;MessageBox MB_OK 'User "$0" is in the Power Users group'
-    Goto done
-
-  noLM:
-    ;Get installation folder from registry if available
-
-  done:
-
-FunctionEnd
-
-;--- Add/Remove callback functions: ---
-!macro SectionList MacroName
-  ;This macro used to perform operation on multiple sections.
-  ;List all of your components in following manner here.
-@CPACK_NSIS_COMPONENT_SECTION_LIST@
-!macroend
-
-Section -FinishComponents
-  ;Removes unselected components and writes component status to registry
-  !insertmacro SectionList "FinishSection"
-
-!ifdef CPACK_NSIS_ADD_REMOVE
-  ; Get the name of the installer executable
-  System::Call 'kernel32::GetModuleFileNameA(i 0, t .R0, i 1024) i r1'
-  StrCpy $R3 $R0
-
-  ; Strip off the last 13 characters, to see if we have AddRemove.exe
-  StrLen $R1 $R0
-  IntOp $R1 $R0 - 13
-  StrCpy $R2 $R0 13 $R1
-  StrCmp $R2 "AddRemove.exe" addremove_installed
-
-  ; We're not running AddRemove.exe, so install it
-  CopyFiles $R3 $INSTDIR\AddRemove.exe
-
-  addremove_installed:
-!endif
-SectionEnd
-;--- End of Add/Remove callback functions ---
-
-;--------------------------------
-; Component dependencies
-Function .onSelChange
-  !insertmacro SectionList MaybeSelectionChanged
-FunctionEnd
-
-;--------------------------------
-;Uninstaller Section
-
-Section "Uninstall"
-  ReadRegStr $START_MENU SHCTX \
-   "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "StartMenu"
-  ;MessageBox MB_OK "Start menu is in: $START_MENU"
-  ReadRegStr $DO_NOT_ADD_TO_PATH SHCTX \
-    "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "DoNotAddToPath"
-  ReadRegStr $ADD_TO_PATH_ALL_USERS SHCTX \
-    "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "AddToPathAllUsers"
-  ReadRegStr $ADD_TO_PATH_CURRENT_USER SHCTX \
-    "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "AddToPathCurrentUser"
-  ;MessageBox MB_OK "Add to path: $DO_NOT_ADD_TO_PATH all users: $ADD_TO_PATH_ALL_USERS"
-  ReadRegStr $INSTALL_DESKTOP SHCTX \
-    "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "InstallToDesktop"
-  ;MessageBox MB_OK "Install to desktop: $INSTALL_DESKTOP "
-
-@CPACK_NSIS_EXTRA_UNINSTALL_COMMANDS@
-
-  !insertmacro UninstallVarEnvs
-
-  ;Remove files we installed.
-  ;Keep the list of directories here in sync with the File commands above.
-@CPACK_NSIS_DELETE_FILES@
-@CPACK_NSIS_DELETE_DIRECTORIES@
-
-!ifdef CPACK_NSIS_ADD_REMOVE
-  ;Remove the add/remove program
-  Delete "$INSTDIR\AddRemove.exe"
-!endif
-
-  ;Remove the uninstaller itself.
-  Delete "$INSTDIR\Uninstall.exe"
-  DeleteRegKey SHCTX "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@"
-
-  ;Remove the installation directory if it is empty.
-  RMDir "$INSTDIR"
-
-  ; Remove the registry entries.
-  DeleteRegKey SHCTX "Software\@CPACK_PACKAGE_VENDOR@\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@"
-
-  ; Removes all optional components
-  !insertmacro SectionList "RemoveSection_CPack"
-
-  !insertmacro MUI_STARTMENU_GETFOLDER Application $MUI_TEMP
-
-  Delete "$SMPROGRAMS\$MUI_TEMP\Uninstall.lnk"
-@CPACK_NSIS_DELETE_ICONS@
-@CPACK_NSIS_DELETE_ICONS_EXTRA@
-
-  ;Delete empty start menu parent diretories
-  StrCpy $MUI_TEMP "$SMPROGRAMS\$MUI_TEMP"
-
-  startMenuDeleteLoop:
-    ClearErrors
-    RMDir $MUI_TEMP
-    GetFullPathName $MUI_TEMP "$MUI_TEMP\.."
-
-    IfErrors startMenuDeleteLoopDone
-
-    StrCmp "$MUI_TEMP" "$SMPROGRAMS" startMenuDeleteLoopDone startMenuDeleteLoop
-  startMenuDeleteLoopDone:
-
-  ; If the user changed the shortcut, then untinstall may not work. This should
-  ; try to fix it.
-  StrCpy $MUI_TEMP "$START_MENU"
-  Delete "$SMPROGRAMS\$MUI_TEMP\Uninstall.lnk"
-@CPACK_NSIS_DELETE_ICONS_EXTRA@
-
-  ;Delete empty start menu parent diretories
-  StrCpy $MUI_TEMP "$SMPROGRAMS\$MUI_TEMP"
-
-  secondStartMenuDeleteLoop:
-    ClearErrors
-    RMDir $MUI_TEMP
-    GetFullPathName $MUI_TEMP "$MUI_TEMP\.."
-
-    IfErrors secondStartMenuDeleteLoopDone
-
-    StrCmp "$MUI_TEMP" "$SMPROGRAMS" secondStartMenuDeleteLoopDone secondStartMenuDeleteLoop
-  secondStartMenuDeleteLoopDone:
-
-  DeleteRegKey /ifempty SHCTX "Software\@CPACK_PACKAGE_VENDOR@\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@"
-
-  Push $INSTDIR\bin
-  StrCmp $DO_NOT_ADD_TO_PATH_ "1" doNotRemoveFromPath 0
-    Call un.RemoveFromPath
-  doNotRemoveFromPath:
-SectionEnd
-
-;--------------------------------
-; determine admin versus local install
-; Is install for "AllUsers" or "JustMe"?
-; Default to "JustMe" - set to "AllUsers" if admin or on Win9x
-; This function is used for the very first "custom page" of the installer.
-; This custom page does not show up visibly, but it executes prior to the
-; first visible page and sets up $INSTDIR properly...
-; Choose different default installation folder based on SV_ALLUSERS...
-; "Program Files" for AllUsers, "My Documents" for JustMe...
-
-Function .onInit
-  StrCmp "@CPACK_NSIS_ENABLE_UNINSTALL_BEFORE_INSTALL@" "ON" 0 inst
-
-  ReadRegStr $0 HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\@CPACK_PACKAGE_INSTALL_REGISTRY_KEY@" "UninstallString"
-  StrCmp $0 "" inst
-
-  MessageBox MB_YESNOCANCEL|MB_ICONEXCLAMATION \
-  "@CPACK_NSIS_PACKAGE_NAME@ is already installed. $\n$\nDo you want to uninstall the old version before installing the new one?" \
-  IDYES uninst IDNO inst
-  Abort
-
-;Run the uninstaller
-uninst:
-  ClearErrors
-  StrLen $2 "\Uninstall.exe"
-  StrCpy $3 $0 -$2 # remove "\Uninstall.exe" from UninstallString to get path
-  ExecWait '$0 _?=$3' ;Do not copy the uninstaller to a temp file
-
-  IfErrors uninst_failed inst
-uninst_failed:
-  MessageBox MB_OK|MB_ICONSTOP "Uninstall failed."
-  Abort
-
-
-inst:
-  ; Reads components status for registry
-  !insertmacro SectionList "InitSection"
-
-  ${If} ${RunningX64}
-    StrCpy $VARPROGRAMFILES "$PROGRAMFILES64"
-  ${else}
-    StrCpy $VARPROGRAMFILES "$PROGRAMFILES"
-  ${EndIf}
-
-  StrCmp "$INSTDIR" "" 0 +2
-  StrCpy $INSTDIR "@CPACK_NSIS_INSTALL_ROOT@\@CPACK_PACKAGE_INSTALL_DIRECTORY@"
-
-  ; check to see if /D has been used to change
-  ; the install directory by comparing it to the
-  ; install directory that is expected to be the
-  ; default
-  StrCpy $IS_DEFAULT_INSTALLDIR 0
-  StrCmp "$INSTDIR" "@CPACK_NSIS_INSTALL_ROOT@\@CPACK_PACKAGE_INSTALL_DIRECTORY@" 0 +2
-    StrCpy $IS_DEFAULT_INSTALLDIR 1
-
-  StrCpy $SV_ALLUSERS "JustMe"
-  ; if default install dir then change the default
-  ; if it is installed for JustMe
-  StrCmp "$IS_DEFAULT_INSTALLDIR" "1" 0 +2
-    StrCpy $INSTDIR "$DOCUMENTS\@CPACK_PACKAGE_INSTALL_DIRECTORY@"
-
-  ClearErrors
-  UserInfo::GetName
-  IfErrors noLM
-  Pop $0
-  UserInfo::GetAccountType
-  Pop $1
-  StrCmp $1 "Admin" 0 +4
-    SetShellVarContext all
-    ;MessageBox MB_OK 'User "$0" is in the Admin group'
-    StrCpy $SV_ALLUSERS "AllUsers"
-    Goto done
-  StrCmp $1 "Power" 0 +4
-    SetShellVarContext all
-    ;MessageBox MB_OK 'User "$0" is in the Power Users group'
-    StrCpy $SV_ALLUSERS "AllUsers"
-    Goto done
-
-  noLM:
-    StrCpy $SV_ALLUSERS "AllUsers"
-    ;Get installation folder from registry if available
-
-  done:
-  StrCmp $SV_ALLUSERS "AllUsers" 0 +3
-    StrCmp "$IS_DEFAULT_INSTALLDIR" "1" 0 +2
-      StrCpy $INSTDIR "@CPACK_NSIS_INSTALL_ROOT@\@CPACK_PACKAGE_INSTALL_DIRECTORY@"
-
-  StrCmp "@CPACK_NSIS_MODIFY_PATH@" "ON" 0 noOptionsPage
-    !insertmacro INSTALLOPTIONS_EXTRACT "NSIS.InstallOptions.ini"
-
-  noOptionsPage:
-
-  File /oname=$PLUGINSDIR\spltmp.jpg "@CPACK_TOPLEVEL_DIRECTORY@\eProsimaLogo.jpg"
-  newadvsplash::show 1000 600 400 -1 "$PLUGINSDIR\spltmp.jpg"
-  Pop $0
-
-FunctionEnd
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/windows/NSISPackaging.cmake.in b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/windows/NSISPackaging.cmake.in
deleted file mode 100644
index 424385f6e..000000000
--- a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/windows/NSISPackaging.cmake.in
+++ /dev/null
@@ -1,37 +0,0 @@
-# Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-# Prepare auxiliary NSIS scripts
-string(TOUPPER "@PROJECT_NAME@" PROJECT_NAME_UPPER)
-
-set(MSVC_ARCH_DIR "")
-if(@EPROSIMA_BUILD@)
-    set(MSVC_ARCH_DIR "\\@MSVC_ARCH@")
-endif()
-
-if(@EPROSIMA_INSTALLER@)
-configure_file(@PROJECT_SOURCE_DIR@/cmake/packaging/windows/EnvVarPage.nsh.in ${CPACK_TOPLEVEL_DIRECTORY}/EnvVarPage.nsh @ONLY)
-else()
-configure_file(@PROJECT_SOURCE_DIR@/cmake/packaging/windows/EnvVarPage_one_arch.nsh.in ${CPACK_TOPLEVEL_DIRECTORY}/EnvVarPage.nsh @ONLY)
-endif()
-
-file(COPY @PROJECT_SOURCE_DIR@/cmake/packaging/windows/EnvVarUpdate.nsh
-    DESTINATION ${CPACK_TOPLEVEL_DIRECTORY})
-
-file(COPY @PROJECT_SOURCE_DIR@/cmake/packaging/windows/InstallRedistributables.nsh
-    DESTINATION ${CPACK_TOPLEVEL_DIRECTORY})
-
-# Copy images
-file(COPY @PROJECT_SOURCE_DIR@/utils/images/logo/eProsimaLogo.jpg
-    DESTINATION ${CPACK_TOPLEVEL_DIRECTORY})
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/windows/WindowsPackaging.cmake.in b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/windows/WindowsPackaging.cmake.in
deleted file mode 100644
index cdd0680f9..000000000
--- a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/packaging/windows/WindowsPackaging.cmake.in
+++ /dev/null
@@ -1,40 +0,0 @@
-# Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-set(PROJECT_NAME_LARGE "@PROJECT_NAME_LARGE@")
-set(MSVC_ARCH @MSVC_ARCH@)
-
-if(${CPACK_GENERATOR} STREQUAL "NSIS" )
-    cmake_policy(SET CMP0012 NEW)
-
-    if(@EPROSIMA_INSTALLER@)
-        # Define name of the NSIS file
-        set(CPACK_PACKAGE_FILE_NAME eProsima_@PROJECT_NAME_STYLED@-@PROJECT_VERSION@-Windows)
-    else()
-        # Define name of the NSIS file
-        set(CPACK_PACKAGE_FILE_NAME eProsima_@PROJECT_NAME_STYLED@-@PROJECT_VERSION@-${MSVC_ARCH})
-    endif()
-
-    set(CPACK_NSIS_DISPLAY_NAME "@PROJECT_NAME_LARGE@ @PROJECT_VERSION@")
-    set(CPACK_NSIS_PACKAGE_NAME "eProsima @PROJECT_NAME_LARGE@ @PROJECT_VERSION@")
-    set(CPACK_NSIS_URL_INFO_ABOUT "www.eprosima.com")
-    set(CPACK_NSIS_CONTACT "support@eprosima.com")
-    set(CPACK_NSIS_MUI_ICON "@PROJECT_SOURCE_DIR@\\utils\\images\\icon\\eprosima_icon.ico")
-    set(CPACK_PACKAGE_ICON "@PROJECT_SOURCE_DIR@\\utils\\images\\icon\\eprosima_icon.bmp")
-    set(CPACK_NSIS_INSTALL_ROOT "$VARPROGRAMFILES\\eProsima")
-    
-    # Define cmake script to copy images files and prepare auxiliary NSIS scripts.
-    set(CPACK_INSTALL_SCRIPT "@PROJECT_BINARY_DIR@/cmake/packaging/windows/NSISPackaging.cmake")
-endif()
-
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/testing/GoogleTest.cmake b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/testing/GoogleTest.cmake
new file mode 100644
index 000000000..c10612a51
--- /dev/null
+++ b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/testing/GoogleTest.cmake
@@ -0,0 +1,30 @@
+# Copyright 2023 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+include(GoogleTest)
+
+function(gtest_discover_tests TARGET)
+    cmake_minimum_required(VERSION 3.22)
+    if (WIN32)
+        add_custom_command(
+            TARGET ${TARGET} POST_BUILD
+            COMMAND ${CMAKE_COMMAND} -DTARGET=${TARGET} -DCONFIG=$<CONFIG> -DRUNTIME_LIST=$<TARGET_RUNTIME_DLLS:${TARGET}> -P ${CMAKE_SOURCE_DIR}/cmake/testing/generate_google_test_win_wrapper.cmake
+            COMMAND_EXPAND_LISTS
+            VERBATIM
+            )
+
+        set(CMAKE_COMMAND "${CMAKE_CURRENT_BINARY_DIR}/${TARGET}_win_wrapper_$<CONFIG>.bat")
+    endif()
+    _gtest_discover_tests(${TARGET} ${ARGN})
+endfunction()
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/testing/generate_google_test_win_wrapper.cmake b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/testing/generate_google_test_win_wrapper.cmake
new file mode 100644
index 000000000..1a6f62335
--- /dev/null
+++ b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/cmake/testing/generate_google_test_win_wrapper.cmake
@@ -0,0 +1,40 @@
+# Copyright 2023 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+if (NOT DEFINED TARGET)
+    message(FATAL_ERROR "This scrips needs TARGET variable set")
+endif()
+if (NOT DEFINED CONFIG)
+    message(FATAL_ERROR "This scrips needs CONFIG variable set")
+endif()
+if (NOT DEFINED RUNTIME_LIST)
+    message(FATAL_ERROR "This scrips needs RUNTIME_LIST variable set")
+endif()
+
+set(_path "")
+
+foreach(_runtime_dll IN LISTS RUNTIME_LIST)
+    cmake_path(GET _runtime_dll PARENT_PATH _runtime_dll_path)
+    cmake_path(NATIVE_PATH _runtime_dll_path _runtime_dll_path_native)
+    list(APPEND _path "${_runtime_dll_path_native}")
+endforeach()
+
+list(REMOVE_DUPLICATES _path)
+
+cmake_path(NATIVE_PATH CMAKE_COMMAND _cmake_command)
+file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/${TARGET}_win_wrapper_${CONFIG}.bat" "
+@ECHO OFF
+set \"PATH=${_path};%PATH%\"
+\"${_cmake_command}\" %*
+")
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/include/Makefile.am.in b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/include/Makefile.am.in
deleted file mode 100644
index 39cbc5cea..000000000
--- a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/include/Makefile.am.in
+++ /dev/null
@@ -1,16 +0,0 @@
-# Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-library_includedir = $(includedir)
-nobase_library_include_HEADERS = ${${PROJECT_NAME}_PUBLIC_HEADERS_AUTOTOOLS}
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/include/fastcdr/Cdr.h b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/include/fastcdr/Cdr.h
index 5748cd489..ba51fa2b8 100644
--- a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/include/fastcdr/Cdr.h
+++ b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/include/fastcdr/Cdr.h
@@ -266,7 +266,7 @@ class Cdr
     Cdr_DllAPI size_t get_serialized_data_length() const;
 
     /*!
-     * @brief Get the number of bytes needed to align a position to certain data size.
+     * @brief Returns the number of bytes needed to align a position to certain data size.
      * @param current_alignment Position to be aligned.
      * @param data_size Size of next data to process (should be power of two).
      * @return Number of required alignment bytes.
@@ -748,26 +748,17 @@ class Cdr
     Cdr& serialize(
             const std::array<_T, _Size>& array_t)
     {
-        Cdr::state dheader_state(*this);
-
-        if (CdrVersion::XCDRv2 == cdr_version_ && !is_multi_array_primitive(&array_t))
+        if (!is_multi_array_primitive(&array_t))
         {
-            // Serialize DHEADER
-            uint32_t dheader {0};
-            serialize(dheader);
-        }
+            Cdr::state dheader_state {allocate_xcdrv2_dheader()};
 
-        serialize_array(array_t.data(), array_t.size());
+            serialize_array(array_t.data(), array_t.size());
 
-        if (CdrVersion::XCDRv2 == cdr_version_ && !is_multi_array_primitive(&array_t))
+            set_xcdrv2_dheader(dheader_state);
+        }
+        else
         {
-            auto offset = offset_;
-            Cdr::state state_after(*this);
-            set_state(dheader_state);
-            size_t dheader = offset - offset_ - (4 + alignment(sizeof(uint32_t)));/* DHEADER */
-            serialize(static_cast<uint32_t>(dheader));
-            set_state(state_after);
-            serialized_member_size_ = SERIALIZED_MEMBER_SIZE;
+            serialize_array(array_t.data(), array_t.size());
         }
 
         return *this;
@@ -784,14 +775,7 @@ class Cdr
     Cdr& serialize(
             const std::vector<_T>& vector_t)
     {
-        Cdr::state dheader_state(*this);
-
-        if (CdrVersion::XCDRv2 == cdr_version_)
-        {
-            // Serialize DHEADER
-            uint32_t dheader {0};
-            serialize(dheader);
-        }
+        Cdr::state dheader_state {allocate_xcdrv2_dheader()};
 
         serialize(static_cast<int32_t>(vector_t.size()));
 
@@ -805,16 +789,7 @@ class Cdr
             ex.raise();
         }
 
-        if (CdrVersion::XCDRv2 == cdr_version_)
-        {
-            auto offset = offset_;
-            Cdr::state state_after(*this);
-            set_state(dheader_state);
-            size_t dheader = offset - offset_ - (4 + alignment(sizeof(uint32_t)));/* DHEADER */
-            serialize(static_cast<uint32_t>(dheader));
-            set_state(state_after);
-            serialized_member_size_ = SERIALIZED_MEMBER_SIZE;
-        }
+        set_xcdrv2_dheader(dheader_state);
 
         return *this;
     }
@@ -876,14 +851,7 @@ class Cdr
     Cdr& serialize(
             const std::map<_K, _T>& map_t)
     {
-        Cdr::state dheader_state(*this);
-
-        if (CdrVersion::XCDRv2 == cdr_version_)
-        {
-            // Serialize DHEADER
-            uint32_t dheader {0};
-            serialize(dheader);
-        }
+        Cdr::state dheader_state {allocate_xcdrv2_dheader()};
 
         serialize(static_cast<int32_t>(map_t.size()));
 
@@ -901,16 +869,7 @@ class Cdr
             ex.raise();
         }
 
-        if (CdrVersion::XCDRv2 == cdr_version_)
-        {
-            auto offset = offset_;
-            Cdr::state state_after(*this);
-            set_state(dheader_state);
-            size_t dheader = offset - offset_ - (4 + alignment(sizeof(uint32_t)));/* DHEADER */
-            serialize(static_cast<uint32_t>(dheader));
-            set_state(state_after);
-            serialized_member_size_ = SERIALIZED_MEMBER_SIZE;
-        }
+        set_xcdrv2_dheader(dheader_state);
 
         return *this;
     }
@@ -1271,6 +1230,91 @@ class Cdr
         return *this;
     }
 
+    /*!
+     * @brief Encodes an std::vector of primitives as an array.
+     * @param[in] value Reference to a std::vector.
+     * @return Reference to the eprosima::fastcdr::Cdr object.
+     * @exception exception::NotEnoughMemoryException This exception is thrown when trying to encode into a buffer
+     * position that exceeds the internal memory size.
+     */
+    template<class _T, typename std::enable_if<std::is_enum<_T>::value ||
+            std::is_arithmetic<_T>::value>::type* = nullptr>
+    Cdr& serialize_array(
+            const std::vector<_T>& value)
+    {
+        serialize_array(value.data(), value.size());
+
+        return *this;
+    }
+
+    /*!
+     * @brief Encodes an std::vector of non-primitives as an array.
+     * @param[in] value Reference to a std::vector.
+     * @return Reference to the eprosima::fastcdr::Cdr object.
+     * @exception exception::NotEnoughMemoryException This exception is thrown when trying to encode into a buffer
+     * position that exceeds the internal memory size.
+     */
+    template<class _T, typename std::enable_if<!std::is_enum<_T>::value &&
+            !std::is_arithmetic<_T>::value>::type* = nullptr>
+    Cdr& serialize_array(
+            const std::vector<_T>& value)
+    {
+        Cdr::state dheader_state {allocate_xcdrv2_dheader()};
+
+        serialize_array(value.data(), value.size());
+
+        set_xcdrv2_dheader(dheader_state);
+
+        return *this;
+    }
+
+    /*!
+     * @brief Encodes an std::vector as an array with a different endianness.
+     * @param[in] value Reference to a std::vector.
+     * @param[in] endianness Endianness that will be used in the serialization of this value.
+     * @return Reference to the eprosima::fastcdr::Cdr object.
+     * @exception exception::NotEnoughMemoryException This exception is thrown when trying to encode into a buffer
+     * position that exceeds the internal memory size.
+     */
+    template<class _T>
+    Cdr& serialize_array(
+            const std::vector<_T>& value,
+            Endianness endianness)
+    {
+        bool aux_swap = swap_bytes_;
+        swap_bytes_ = (swap_bytes_ && (static_cast<Endianness>(endianness_) == endianness)) ||
+                (!swap_bytes_ && (static_cast<Endianness>(endianness_) != endianness));
+
+        try
+        {
+            serialize_array(value);
+            swap_bytes_ = aux_swap;
+        }
+        catch (exception::Exception& ex)
+        {
+            swap_bytes_ = aux_swap;
+            ex.raise();
+        }
+
+        return *this;
+    }
+
+    /*!
+     * @brief Encodes an std::vector of booleans as an array.
+     * @param[in] value Reference to a std::vector.
+     * @return Reference to the eprosima::fastcdr::Cdr object.
+     * @exception exception::NotEnoughMemoryException This exception is thrown when trying to encode into a buffer
+     * position that exceeds the internal memory size.
+     */
+    TEMPLATE_SPEC
+    Cdr& serialize_array(
+            const std::vector<bool>& value)
+    {
+        serialize_bool_array(value);
+
+        return *this;
+    }
+
     /*!
      * @brief This function template serializes a raw sequence of non-primitives
      * @param sequence_t Pointer to the sequence that will be serialized in the buffer.
@@ -1284,14 +1328,7 @@ class Cdr
             const _T* sequence_t,
             size_t num_elements)
     {
-        Cdr::state dheader_state(*this);
-
-        if (CdrVersion::XCDRv2 == cdr_version_)
-        {
-            // Serialize DHEADER
-            uint32_t dheader {0};
-            serialize(dheader);
-        }
+        Cdr::state dheader_state {allocate_xcdrv2_dheader()};
 
         serialize(static_cast<int32_t>(num_elements));
 
@@ -1305,16 +1342,7 @@ class Cdr
             ex.raise();
         }
 
-        if (CdrVersion::XCDRv2 == cdr_version_)
-        {
-            auto offset = offset_;
-            Cdr::state state_after(*this);
-            set_state(dheader_state);
-            size_t dheader = offset - offset_ - (4 + alignment(sizeof(uint32_t)));/* DHEADER */
-            serialize(static_cast<uint32_t>(dheader));
-            set_state(state_after);
-            serialized_member_size_ = SERIALIZED_MEMBER_SIZE;
-        }
+        set_xcdrv2_dheader(dheader_state);
 
         return *this;
     }
@@ -2330,6 +2358,120 @@ class Cdr
             bool* bool_t,
             size_t num_elements);
 
+    /*!
+     * @brief Decodes an array of primitives on a std::vector.
+     *
+     * std::vector must have allocated the number of element of the array.
+     *
+     * @param[out] value Reference to the std::vector where the array will be stored after decoding from the buffer.
+     * @return Reference to the eprosima::fastcdr::Cdr object.
+     * @exception exception::NotEnoughMemoryException This exception is thrown when trying to decode from a buffer
+     * position that exceeds the internal memory size.
+     */
+    template<class _T, typename std::enable_if<std::is_enum<_T>::value ||
+            std::is_arithmetic<_T>::value>::type* = nullptr>
+    Cdr& deserialize_array(
+            std::vector<_T>& value)
+    {
+        deserialize_array(value.data(), value.size());
+
+        return *this;
+    }
+
+    /*!
+     * @brief Decodes an array of non-primitives on a std::vector.
+     *
+     * std::vector must have allocated the number of element of the array.
+     *
+     * @param[out] value Reference to the std::vector where the array will be stored after decoding from the buffer.
+     * @return Reference to the eprosima::fastcdr::Cdr object.
+     * @exception exception::NotEnoughMemoryException This exception is thrown when trying to decode from a buffer
+     * position that exceeds the internal memory size.
+     */
+    template<class _T, typename std::enable_if<!std::is_enum<_T>::value &&
+            !std::is_arithmetic<_T>::value>::type* = nullptr>
+    Cdr& deserialize_array(
+            std::vector<_T>& value)
+    {
+        if (CdrVersion::XCDRv2 == cdr_version_)
+        {
+            uint32_t dheader {0};
+            deserialize(dheader);
+
+            uint32_t count {0};
+            auto offset = offset_;
+            while (offset_ - offset < dheader && count < value.size())
+            {
+                deserialize_array(&value.data()[count], 1);
+                ++count;
+            }
+
+            if (offset_ - offset != dheader)
+            {
+                throw exception::BadParamException("Member size greater than size specified by DHEADER");
+            }
+        }
+        else
+        {
+            return deserialize_array(value.data(), value.size());
+        }
+
+        return *this;
+    }
+
+    /*!
+     * @brief Decodes an array of non-primitives on a std::vector with a different endianness.
+     *
+     * std::vector must have allocated the number of element of the array.
+     *
+     * @param[out] value Reference to the std::vector where the array will be stored after decoding from the buffer.
+     * @param[in] endianness Endianness that will be used in the serialization of this value.
+     * @return Reference to the eprosima::fastcdr::Cdr object.
+     * @exception exception::NotEnoughMemoryException This exception is thrown when trying to decode from a buffer
+     * position that exceeds the internal memory size.
+     */
+    template<class _T>
+    Cdr& deserialize_array(
+            std::vector<_T>& value,
+            Endianness endianness)
+    {
+        bool aux_swap = swap_bytes_;
+        swap_bytes_ = (swap_bytes_ && (static_cast<Endianness>(endianness_) == endianness)) ||
+                (!swap_bytes_ && (static_cast<Endianness>(endianness_) != endianness));
+
+        try
+        {
+            deserialize_array(value);
+            swap_bytes_ = aux_swap;
+        }
+        catch (exception::Exception& ex)
+        {
+            swap_bytes_ = aux_swap;
+            ex.raise();
+        }
+
+        return *this;
+    }
+
+    /*!
+     * @brief Decodes an array of booleans on a std::vector.
+     *
+     * std::vector must have allocated the number of element of the array.
+     *
+     * @param[out] value Reference to the std::vector where the array will be stored after decoding from the buffer.
+     * @return Reference to the eprosima::fastcdr::Cdr object.
+     * @exception exception::NotEnoughMemoryException This exception is thrown when trying to encode into a buffer
+     * position that exceeds the internal memory size.
+     */
+    TEMPLATE_SPEC
+    Cdr& deserialize_array(
+            std::vector<bool>& value)
+    {
+        deserialize_bool_array(value);
+
+        return *this;
+    }
+
     /*!
      * @brief This function template deserializes a raw sequence of non-primitives.
      * This function allocates memory to store the sequence. The user pointer will be set to point this allocated memory.
@@ -2760,13 +2902,7 @@ class Cdr
 
         if (!value)
         {
-            value = external<_T>{new
-#if !defined(_MSC_VER) || _MSC_VER >= 1920
-                                 _T()
-#else
-                                 external<_T>::type()
-#endif // if _MSC_VER >= 1920
-            };
+            value = external<_T>{new typename external<_T>::type()};
         }
 
         deserialize(*value);
@@ -2803,6 +2939,22 @@ class Cdr
         return *this;
     }
 
+    /*!
+     * @brief Encodes an empty DHEADER if the encoding version is XCDRv2.
+     * After serializing the members's type, @ref set_xcdrv2_dheader must be called to set the correct DHEADER value
+     * using the @ref state returned by this function.
+     */
+    Cdr_DllAPI state allocate_xcdrv2_dheader();
+
+    /*!
+     * @brief Uses the @ref state to calculate the member's type size and serialize the value in the previous allocated
+     * DHEADER.
+     *
+     * @param[in] state @ref state used to calculate the member's type size.
+     */
+    Cdr_DllAPI void set_xcdrv2_dheader(
+            const state& state);
+
 private:
 
     Cdr(
@@ -2811,9 +2963,15 @@ class Cdr
     Cdr& operator =(
             const Cdr&) = delete;
 
+    Cdr_DllAPI Cdr& serialize_bool_array(
+            const std::vector<bool>& vector_t);
+
     Cdr_DllAPI Cdr& serialize_bool_sequence(
             const std::vector<bool>& vector_t);
 
+    Cdr_DllAPI Cdr& deserialize_bool_array(
+            std::vector<bool>& vector_t);
+
     Cdr_DllAPI Cdr& deserialize_bool_sequence(
             std::vector<bool>& vector_t);
 
@@ -2873,7 +3031,8 @@ class Cdr
     }
 
     /*!
-     * @brief This function returns the extra bytes regarding the allignment.
+     * @brief Returns the number of bytes needed to align the current position (having as reference the origin) to
+     * certain data size.
      * @param data_size The size of the data that will be serialized.
      * @return The size needed for the alignment.
      */
@@ -3373,13 +3532,16 @@ class Cdr
     //! Align for types equal or greater than 64bits.
     size_t align64_ {4};
 
-
+    /*!
+     * When serializing a member's type using XCDRv2, this enumerator is used to inform the type was serialized with a
+     * DHEADER and the algorithm could optimize the XCDRv2 member header.
+     */
     enum SerializedMemberSizeForNextInt
     {
-        NO_SERIALIZED_MEMBER_SIZE,
-        SERIALIZED_MEMBER_SIZE,
-        SERIALIZED_MEMBER_SIZE_4,
-        SERIALIZED_MEMBER_SIZE_8
+        NO_SERIALIZED_MEMBER_SIZE,     //! Default. No serialized member size in a DHEADER.
+        SERIALIZED_MEMBER_SIZE,        //! Serialized member size in a DHEADER.
+        SERIALIZED_MEMBER_SIZE_4,      //! Serialized member size (which is a multiple of 4) in a DHEADER.
+        SERIALIZED_MEMBER_SIZE_8       //! Serialized member size (which is a multiple of 8) in a DHEADER.
     }
     //! Specifies if a DHEADER was serialized. Used to optimize XCDRv2 member headers.
     serialized_member_size_ {NO_SERIALIZED_MEMBER_SIZE};
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/include/fastcdr/CdrSizeCalculator.hpp b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/include/fastcdr/CdrSizeCalculator.hpp
index 423b32333..67860e2a9 100644
--- a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/include/fastcdr/CdrSizeCalculator.hpp
+++ b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/include/fastcdr/CdrSizeCalculator.hpp
@@ -60,6 +60,16 @@ class CdrSizeCalculator
     Cdr_DllAPI CdrSizeCalculator(
             CdrVersion cdr_version);
 
+    /*!
+     * @brief Constructor.
+     * @param[in] cdr_version Represents the version of the encoding algorithm that will be used for the encoding.
+     * The default value is CdrVersion::XCDRv2.
+     * @param[in] encoding Represents the initial encoding.
+     */
+    Cdr_DllAPI CdrSizeCalculator(
+            CdrVersion cdr_version,
+            EncodingAlgorithmFlag encoding);
+
     /*!
      * @brief Retrieves the version of the encoding algorithm used by the instance.
      * @return Configured CdrVersion.
@@ -1057,6 +1067,68 @@ class CdrSizeCalculator
         return calculate_array_serialized_size(data->data(), num_elements * data->size(), current_alignment);
     }
 
+    /*!
+     * @brief Specific template which calculates the encoded size of an std::vector of primitives as an array.
+     * @param[in] data Reference to the instance.
+     * @param[inout] current_alignment Current alignment in the encoding.
+     * @return Encoded size of the instance.
+     */
+    template<class _T, typename std::enable_if<std::is_enum<_T>::value ||
+            std::is_arithmetic<_T>::value>::type* = nullptr>
+    size_t calculate_array_serialized_size(
+            const std::vector<_T>& data,
+            size_t& current_alignment)
+    {
+        return calculate_array_serialized_size(data.data(), data.size(), current_alignment);
+    }
+
+    /*!
+     * @brief Specific template which calculates the encoded size of an std::vector of non-primitives as an array.
+     * @param[in] data Reference to the instance.
+     * @param[inout] current_alignment Current alignment in the encoding.
+     * @return Encoded size of the instance.
+     */
+    template<class _T, typename std::enable_if<!std::is_enum<_T>::value &&
+            !std::is_arithmetic<_T>::value>::type* = nullptr>
+    size_t calculate_array_serialized_size(
+            const std::vector<_T>& data,
+            size_t& current_alignment)
+    {
+        size_t initial_alignment {current_alignment};
+
+        if (CdrVersion::XCDRv2 == cdr_version_)
+        {
+            // DHEADER
+            current_alignment += 4 + alignment(current_alignment, 4);
+        }
+
+        size_t calculated_size {current_alignment - initial_alignment};
+        calculated_size += calculate_array_serialized_size(data.data(), data.size(), current_alignment);
+
+        if (CdrVersion::XCDRv2 == cdr_version_)
+        {
+            // Inform DHEADER can be joined with NEXTINT
+            serialized_member_size_ = SERIALIZED_MEMBER_SIZE;
+        }
+
+        return calculated_size;
+    }
+
+    /*!
+     * @brief Specific template which calculates the encoded size of an std::vector of bool as an array.
+     * @param[in] data Reference to the instance.
+     * @param[inout] current_alignment Current alignment in the encoding.
+     * @return Encoded size of the instance.
+     */
+    TEMPLATE_SPEC
+    size_t calculate_array_serialized_size(
+            const std::vector<bool>& data,
+            size_t& current_alignment)
+    {
+        current_alignment += data.size();
+        return data.size();
+    }
+
     /*!
      * @brief Generic template which calculates the encoded size of the constructed type's member of a unknown type.
      * @tparam _T Member's type.
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/include/fastcdr/config/doxygen_modules.h b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/include/fastcdr/config/doxygen_modules.h
new file mode 100644
index 000000000..521200293
--- /dev/null
+++ b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/include/fastcdr/config/doxygen_modules.h
@@ -0,0 +1,34 @@
+// Copyright 2024 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/**
+ * @file doxygen_modules.h
+ */
+
+#ifndef FASTCDR_DOXYGEN_MODULES_H_
+#define FASTCDR_DOXYGEN_MODULES_H_
+
+/*!
+ * @defgroup FASTCDRAPIREFERENCE FastCDR Serializer API Reference
+ * @brief FastCDR Serializer internal API groped in modules.
+ */
+
+/*!
+ * @defgroup EXCEPTIONMODULE Exceptions
+ * @ingroup FASTCDRAPIREFERENCE
+ * @brief Exceptions used by the FastCDR API.
+ * All exceptions defined in this module are thrown by the FastCDR library.
+ */
+
+#endif /* FASTCDR_DOXYGEN_MODULES_H_ */
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/src/cpp/Cdr.cpp b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/src/cpp/Cdr.cpp
index 34e2ebe8b..189ee21d0 100644
--- a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/src/cpp/Cdr.cpp
+++ b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/src/cpp/Cdr.cpp
@@ -1643,13 +1643,8 @@ Cdr& Cdr::deserialize(
         // Allocate memory.
         string_t = reinterpret_cast<wchar_t*>(calloc(length + 1, sizeof(wchar_t))); // WStrings never serialize terminating zero
 
-        for (size_t idx = 0; idx < length; ++idx)
-        {
-            uint16_t temp;
-            offset_ >> temp;
-            string_t[idx] = static_cast<wchar_t>(temp);
-            offset_ += sizeof(uint16_t);
-        }
+        deserialize_array(string_t, length);
+
         return *this;
     }
 
@@ -2156,6 +2151,44 @@ Cdr& Cdr::deserialize_array(
     throw NotEnoughMemoryException(NotEnoughMemoryException::NOT_ENOUGH_MEMORY_MESSAGE_DEFAULT);
 }
 
+Cdr& Cdr::serialize_bool_array(
+        const std::vector<bool>& vector_t)
+{
+    state state_before_error(*this);
+
+    size_t total_size = vector_t.size() * sizeof(bool);
+
+    if (((end_ - offset_) >= total_size) || resize(total_size))
+    {
+        // Save last datasize.
+        last_data_size_ = sizeof(bool);
+
+        for (size_t count = 0; count < vector_t.size(); ++count)
+        {
+            uint8_t value = 0;
+            std::vector<bool>::const_reference ref = vector_t[count];
+
+            if (ref)
+            {
+                value = 1;
+            }
+            offset_++ << value;
+        }
+    }
+    else
+    {
+        set_state(state_before_error);
+        throw NotEnoughMemoryException(NotEnoughMemoryException::NOT_ENOUGH_MEMORY_MESSAGE_DEFAULT);
+    }
+
+    if (CdrVersion::XCDRv2 == cdr_version_)
+    {
+        serialized_member_size_ = SERIALIZED_MEMBER_SIZE;
+    }
+
+    return *this;
+}
+
 Cdr& Cdr::serialize_bool_sequence(
         const std::vector<bool>& vector_t)
 {
@@ -2196,6 +2229,46 @@ Cdr& Cdr::serialize_bool_sequence(
     return *this;
 }
 
+Cdr& Cdr::deserialize_bool_array(
+        std::vector<bool>& vector_t)
+{
+    state state_before_error(*this);
+
+    size_t total_size = vector_t.size() * sizeof(bool);
+
+    if ((end_ - offset_) >= total_size)
+    {
+        // Save last datasize.
+        last_data_size_ = sizeof(bool);
+
+        for (uint32_t count = 0; count < vector_t.size(); ++count)
+        {
+            uint8_t value = 0;
+            offset_++ >> value;
+
+            if (value == 1)
+            {
+                vector_t[count] = true;
+            }
+            else if (value == 0)
+            {
+                vector_t[count] = false;
+            }
+            else
+            {
+                throw BadParamException("Unexpected byte value in Cdr::deserialize_bool_sequence, expected 0 or 1");
+            }
+        }
+    }
+    else
+    {
+        set_state(state_before_error);
+        throw NotEnoughMemoryException(NotEnoughMemoryException::NOT_ENOUGH_MEMORY_MESSAGE_DEFAULT);
+    }
+
+    return *this;
+}
+
 Cdr& Cdr::deserialize_bool_sequence(
         std::vector<bool>& vector_t)
 {
@@ -3304,5 +3377,34 @@ Cdr& Cdr::cdr_deserialize_type(
     return *this;
 }
 
+Cdr::state Cdr::allocate_xcdrv2_dheader()
+{
+    Cdr::state dheader_state(*this);
+
+    if (CdrVersion::XCDRv2 == cdr_version_)
+    {
+        // Serialize DHEADER
+        uint32_t dheader {0};
+        serialize(dheader);
+    }
+
+    return dheader_state;
+}
+
+void Cdr::set_xcdrv2_dheader(
+        const Cdr::state& dheader_state)
+{
+    if (CdrVersion::XCDRv2 == cdr_version_)
+    {
+        auto offset = offset_;
+        Cdr::state state_after(*this);
+        set_state(dheader_state);
+        size_t dheader = offset - offset_ - (4 + alignment(sizeof(uint32_t)));    /* DHEADER */
+        serialize(static_cast<uint32_t>(dheader));
+        set_state(state_after);
+        serialized_member_size_ = SERIALIZED_MEMBER_SIZE;
+    }
+}
+
 } // namespace fastcdr
 } // namespace eprosima
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/src/cpp/CdrSizeCalculator.cpp b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/src/cpp/CdrSizeCalculator.cpp
index c642de473..6462422b2 100644
--- a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/src/cpp/CdrSizeCalculator.cpp
+++ b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/src/cpp/CdrSizeCalculator.cpp
@@ -32,6 +32,14 @@ CdrSizeCalculator::CdrSizeCalculator(
     }
 }
 
+CdrSizeCalculator::CdrSizeCalculator(
+        CdrVersion cdr_version,
+        EncodingAlgorithmFlag encoding)
+    : cdr_version_(cdr_version)
+    , current_encoding_(encoding)
+{
+}
+
 CdrVersion CdrSizeCalculator::get_cdr_version() const
 {
     return cdr_version_;
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/src/cpp/Makefile.am.in b/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/src/cpp/Makefile.am.in
deleted file mode 100644
index d5b7cd8b1..000000000
--- a/plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/src/cpp/Makefile.am.in
+++ /dev/null
@@ -1,7 +0,0 @@
-ACLOCAL_AMFLAGS = -I m4 --install
-
-lib_LTLIBRARIES = lib${PROJECT_NAME}.la
-lib${PROJECT_NAME}_la_SOURCES = ${${PROJECT_NAME}_SOURCES_AUTOTOOLS}
-lib${PROJECT_NAME}_la_LDFLAGS = -version-number ${PROJECT_VERSION_AUTOTOOLS}
-
-AM_CPPFLAGS = -DFASTCDR_SOURCE -I../../include