Feature/graph manager (#38)

* Initial changes

* Working state

* Working state

* Working state

* Working state

* Working state

* Working state

* Added graph listener

* Updates

* Testing name demangling

* Graph manager: reworked

* Remove debug trace

* Treat errors when freeing rcutils resources

* Improve logics for discovering entities

* Working state: Micro-ROS graph manager

* Fix micro_ros_graph_info typesupport type name

* Remove double CMakeLists comment

* Remove package.xml commented block

* Add missing include

* Added CI

* Remove GUID_t param from callbacks signature

* Add services names and types to micro-ROS graph topic

* Differenciate between service server and clients

* remove debug traces

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>

micro_ros_agent/include/agent/Agent.hpp

@@ -0,0 +1,49 @@
+// Copyright 2020 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.
+
+#ifndef _UROS_AGENT_AGENT_HPP
+#define _UROS_AGENT_AGENT_HPP
+
+#include <uxr/agent/AgentInstance.hpp>
+#include <uxr/agent/middleware/Middleware.hpp>
+#include <uxr/agent/middleware/utils/Callbacks.hpp>
+
+#include <agent/graph_manager/graph_manager.hpp>
+// TODO(jamoralp): class Documentation
+namespace uros {
+namespace agent {
+
+class Agent
+{
+public:
+
+    Agent();
+
+    ~Agent() = default;
+
+    bool create(
+            int argc,
+            char** argv);
+
+    void run();
+
+private:
+
+    eprosima::uxr::AgentInstance& xrce_dds_agent_instance_;
+    std::unique_ptr<graph_manager::GraphManager> graph_manager_;
+};
+
+}  // namespace agent
+}  // namespace uros
+#endif  // _UROS_AGENT_AGENT_HPP