diff --git a/Readme.md b/Readme.md
index 26f5b8e6..979284d3 100644
--- a/Readme.md
+++ b/Readme.md
@@ -1,3 +1,7 @@
+**NOTE:**　This branch has been modified to allow mros2 development in mbed studio.
+
+
+
 **NOTE:** We maintain this repository as the component of [mros2](https://github.com/mROS-base/mros2), by adding some modifications (e.g., [PR#11](https://github.com/mROS-base/embeddedRTPS/pull/11)). So the base branch of this repository has been set to `mros2`.
 The branch and commit of [the original (forked) repository](https://github.com/embedded-software-laboratory/embeddedRTPS) are [mros2_master](https://github.com/mROS-base/embeddedRTPS/tree/mros2_master) and [1410a87](https://github.com/mROS-base/embeddedRTPS/commit/1410a8776660244249a84031ffa78c9bdaa45e19), respectively.
 
diff --git a/include/rtps/common/Locator.h b/include/rtps/common/Locator.h
index 94f55c09..e3d9c647 100644
--- a/include/rtps/common/Locator.h
+++ b/include/rtps/common/Locator.h
@@ -82,6 +82,7 @@ struct FullLengthLocator {
     } else {
       ucdr_serialize_array_uint8_t(&buffer, reinterpret_cast<uint8_t *>(this),
                                    sizeof(FullLengthLocator));
+      return true;
     }
   }
 
diff --git a/thirdparty/Micro-CDR/include/ucdr/microcdr.h b/thirdparty/Micro-CDR/include/ucdr/microcdr.h
index e79f60f1..b76cd8b8 100644
--- a/thirdparty/Micro-CDR/include/ucdr/microcdr.h
+++ b/thirdparty/Micro-CDR/include/ucdr/microcdr.h
@@ -21,7 +21,7 @@ extern "C" {
 
 #include <ucdr/common.h>
 #include <ucdr/types/basic.h>
-#include <ucdr/types/string.h>
+#include <ucdr/types/ucdr_string.h>
 #include <ucdr/types/array.h>
 #include <ucdr/types/sequence.h>
 
diff --git a/thirdparty/Micro-CDR/include/ucdr/types/string.h b/thirdparty/Micro-CDR/include/ucdr/types/ucdr_string.h
similarity index 100%
rename from thirdparty/Micro-CDR/include/ucdr/types/string.h
rename to thirdparty/Micro-CDR/include/ucdr/types/ucdr_string.h
diff --git a/thirdparty/Micro-CDR/src/c/common.c b/thirdparty/Micro-CDR/src/c/common.c
index 4af586ad..239372be 100644
--- a/thirdparty/Micro-CDR/src/c/common.c
+++ b/thirdparty/Micro-CDR/src/c/common.c
@@ -14,7 +14,7 @@
 
 #include <ucdr/common.h>
 
-#include <string.h>
+#include <ucdr_string.h>
 
 #if __BIG_ENDIAN__
     const ucdrEndianness UCDR_MACHINE_ENDIANNESS = UCDR_BIG_ENDIANNESS;
diff --git a/thirdparty/Micro-CDR/src/c/types/string.c b/thirdparty/Micro-CDR/src/c/types/ucdr_string.c
similarity index 97%
rename from thirdparty/Micro-CDR/src/c/types/string.c
rename to thirdparty/Micro-CDR/src/c/types/ucdr_string.c
index de0760fe..b7f65acc 100644
--- a/thirdparty/Micro-CDR/src/c/types/string.c
+++ b/thirdparty/Micro-CDR/src/c/types/ucdr_string.c
@@ -13,7 +13,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <ucdr/types/string.h>
+#include <ucdr/types/ucdr_string.h>
 #include <ucdr/types/sequence.h>
 
 #include <string.h>