diff --git a/include/rtps/ThreadPool.h b/include/rtps/ThreadPool.h
index 11e0f7f..2012a31 100644
--- a/include/rtps/ThreadPool.h
+++ b/include/rtps/ThreadPool.h
@@ -25,6 +25,15 @@ Author: i11 - Embedded Software, RWTH Aachen University
 #ifndef RTPS_THREADPOOL_H
 #define RTPS_THREADPOOL_H
 
+#ifdef __MBED__
+#ifdef __cplusplus
+extern "C" {
+#endif
+void sys_msleep(unsigned int ms);
+#ifdef __cplusplus
+}
+#endif
+#endif /* __MBED__ */
 #include "lwip/sys.h"
 #include "rtps/communication/PacketInfo.h"
 #include "rtps/communication/UdpDriver.h"
diff --git a/include/rtps/common/Locator.h b/include/rtps/common/Locator.h
index 0615088..0812d22 100644
--- a/include/rtps/common/Locator.h
+++ b/include/rtps/common/Locator.h
@@ -80,6 +80,7 @@ struct Locator {
       ucdr_serialize_array_uint8_t(&buffer, reinterpret_cast<uint8_t *>(this),
                                    sizeof(Locator));
     }
+    return true;
   }
 
   ip4_addr_t getIp4Address() const {
diff --git a/thirdparty/Micro-CDR/include/ucdr/microcdr.h b/thirdparty/Micro-CDR/include/ucdr/microcdr.h
index e79f60f..2407580 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/cdr_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/cdr_string.h
similarity index 100%
rename from thirdparty/Micro-CDR/include/ucdr/types/string.h
rename to thirdparty/Micro-CDR/include/ucdr/types/cdr_string.h
diff --git a/thirdparty/Micro-CDR/src/c/types/string.c b/thirdparty/Micro-CDR/src/c/types/string.c
index de0760f..59d6ed2 100644
--- a/thirdparty/Micro-CDR/src/c/types/string.c
+++ b/thirdparty/Micro-CDR/src/c/types/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/cdr_string.h>
 #include <ucdr/types/sequence.h>
 
 #include <string.h>