micro-CDR: bump submodule version and update CMake and src code

msg/templates/uorb_microcdr/microRTPS_client.cpp.em

@@ -85,7 +85,7 @@ void* send(void* /*unused*/)
     uint64_t sent = 0, total_sent = 0;
     int loop = 0, read = 0;
     uint32_t length = 0;
-    uint16_t header_length = 0;
+    size_t header_length = 0;
 
     /* subscribe to topics */
 @[for idx, topic in enumerate(send_topics)]@

msg/templates/urtps/microRTPS_agent.cpp.em

@@ -170,7 +170,7 @@ std::queue<uint8_t> t_send_queue;
 void t_send(void *data)
 {
     char data_buffer[BUFFER_SIZE] = {};
-    int length = 0;
+    uint32_t length = 0;
 
     while (running && !exit_sender_thread.load())
     {
@@ -183,7 +183,7 @@ void t_send(void *data)
         t_send_queue.pop();
         lk.unlock();
 
-        uint16_t header_length = transport_node->get_header_length();
+        size_t header_length = transport_node->get_header_length();
         /* make room for the header to fill in later */
         eprosima::fastcdr::FastBuffer cdrbuffer(&data_buffer[header_length], sizeof(data_buffer)-header_length);
         eprosima::fastcdr::Cdr scdr(cdrbuffer);

msg/templates/urtps/microRTPS_transport.cpp

@@ -213,7 +213,7 @@ ssize_t Transport_node::read(uint8_t *topic_ID, char out_buffer[], size_t buffer
 	return len;
 }
 
-ssize_t Transport_node::get_header_length()
+size_t Transport_node::get_header_length()
 {
     return sizeof(struct Header);
 }

msg/templates/urtps/microRTPS_transport.h

@@ -63,7 +63,7 @@ public:
 	ssize_t write(const uint8_t topic_ID, char buffer[], size_t length);
 
 	/** Get the Length of struct Header to make headroom for the size of struct Header along with payload */
-	ssize_t get_header_length();
+	size_t get_header_length();
 
 protected:
 	virtual ssize_t node_read(void *buffer, size_t len) = 0;