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Merge branch 'main' into feature/stop_agent

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This commit is contained in:
Antonio Cuadros
2021-07-27 15:48:45 +02:00
committed by GitHub
parent 107dea729e 646ca52aab
commit 54cfa606aa
3 changed files with 8 additions and 1 deletions
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micro_ros_agent/include/agent/graph_manager/graph_manager.hpp
+3
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@@ -288,7 +288,10 @@ private:
eprosima::fastdds::dds::DataWriterQos datawriter_qos_; eprosima::fastdds::dds::DataWriterQos datawriter_qos_;
eprosima::fastdds::dds::DataWriterQos datawriter_qos_;
rmw_dds_common::GraphCache graphCache_; rmw_dds_common::GraphCache graphCache_;
ParticipantListener participant_listener_; ParticipantListener participant_listener_;
DatareaderListener datareader_listener_; DatareaderListener datareader_listener_;
micro_ros_agent/src/agent/Agent.cpp
+1
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@@ -197,6 +197,7 @@ void Agent::stop()
graph_manager::GraphManager* Agent::find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id) graph_manager::GraphManager* Agent::find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id)
{ {
auto it = graph_manager_map_.find(domain_id); auto it = graph_manager_map_.find(domain_id);
if (it != graph_manager_map_.end()) { if (it != graph_manager_map_.end()) {
micro_ros_agent/src/agent/graph_manager/graph_manager.cpp
+3
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@@ -34,6 +34,7 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
, microros_graph_info_typesupport_() , microros_graph_info_typesupport_()
{ {
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->load_profiles(); eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->load_profiles();
participant_info_typesupport_ = (eprosima::fastdds::dds::TypeSupport) new graph_manager::ParticipantEntitiesInfoTypeSupport(); participant_info_typesupport_ = (eprosima::fastdds::dds::TypeSupport) new graph_manager::ParticipantEntitiesInfoTypeSupport();
microros_graph_info_typesupport_ = (eprosima::fastdds::dds::TypeSupport) new graph_manager::MicrorosGraphInfoTypeSupport(); microros_graph_info_typesupport_ = (eprosima::fastdds::dds::TypeSupport) new graph_manager::MicrorosGraphInfoTypeSupport();
@@ -54,6 +55,7 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE; eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
eprosima::fastdds::dds::StatusMask par_mask = eprosima::fastdds::dds::StatusMask::none(); eprosima::fastdds::dds::StatusMask par_mask = eprosima::fastdds::dds::StatusMask::none();
participant_ = eprosima::fastdds::dds::DomainParticipantFactory::get_instance()-> participant_ = eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->
create_participant(domain_id_, participant_qos, &participant_listener_, par_mask); create_participant(domain_id_, participant_qos, &participant_listener_, par_mask);
@@ -97,6 +99,7 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
eprosima::fastdds::dds::DataWriterQos ros_to_microros_datawriter_qos_ = datawriter_qos_; eprosima::fastdds::dds::DataWriterQos ros_to_microros_datawriter_qos_ = datawriter_qos_;
ros_to_microros_datawriter_qos_.history().kind = ros_to_microros_datawriter_qos_.history().kind =
eprosima::fastdds::dds::HistoryQosPolicyKind::KEEP_ALL_HISTORY_QOS; eprosima::fastdds::dds::HistoryQosPolicyKind::KEEP_ALL_HISTORY_QOS;
ros_to_microros_graph_datawriter_ = ros_to_microros_graph_datawriter_ =
publisher_->create_datawriter(ros_to_microros_graph_topic_, ros_to_microros_datawriter_qos_); publisher_->create_datawriter(ros_to_microros_graph_topic_, ros_to_microros_datawriter_qos_);