Merge pull request #1 from microROS/develop

Develop
2026-09-06 09:55:15 +02:00 · 2018-11-06 17:58:02 +01:00
parent 7f3931fde6 27203c273e
commit 6b093d8417
14 changed files with 1130 additions and 2 deletions
@@ -1,2 +0,0 @@
-# micro-ros-agent
-
@@ -0,0 +1,32 @@
+# Copyright 2018 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.
+
+cmake_minimum_required(VERSION 3.5)
+
+project(microxrcedds_agent_cmake_module)
+
+find_package(ament_cmake REQUIRED)
+
+if(BUILD_TESTING)
+    find_package(ament_lint_auto REQUIRED)
+    ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package(
+    CONFIG_EXTRAS "microxrcedds_agent_cmake_module-extras.cmake"
+    )
+
+install(DIRECTORY cmake
+    DESTINATION share/${PROJECT_NAME}
+    )
@@ -0,0 +1,124 @@
+# Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+###############################################################################
+#
+# CMake module for finding eProsima MICROXRCEDDS_AGENT.
+#
+# Output variables:
+#
+# - MicroXRCEDDS_Agent_FOUND: flag indicating if the package was found
+# - MicroXRCEDDS_Agent_INCLUDE_DIR: Paths to the header files
+# 
+# Example usage:
+#
+#   find_package(uros_agent_cmake_module REQUIRED)
+#   find_package(MicroXRCEDDS_Agent MODULE)
+#   # use MicroXRCEDDS_Agent_* variables
+#
+###############################################################################
+
+# lint_cmake: -convention/filename, -package/stdargs
+
+set(MicroXRCEDDS_Agent_FOUND FALSE)
+
+find_package(microxrcedds_agent REQUIRED CONFIG)
+find_package(fastcdr REQUIRED CONFIG)
+find_package(fastrtps REQUIRED CONFIG)
+
+find_path(MicroXRCEDDS_Agent_INCLUDE_DIR NAMES uxr)
+
+string(REGEX MATCH "^[0-9]+\\.[0-9]+" microxrcedds_agent_MAJOR_MINOR_VERSION "${microxrcedds_agent_VERSION}")
+string(REGEX MATCH "^[0-9]+\\.[0-9]+" fastcdr_MAJOR_MINOR_VERSION "${fastcdr_VERSION}")
+string(REGEX MATCH "^[0-9]+\\.[0-9]+" fastrtps_MAJOR_MINOR_VERSION "${fastrtps_VERSION}")
+
+##
+find_library(MicroXRCEDDS_Agent_LIBRARY_RELEASE
+  NAMES microxrcedds_agent-${microxrcedds_agent_MAJOR_MINOR_VERSION} microxrcedds_agent)
+
+find_library(MicroXRCEDDS_Agent_LIBRARY_DEBUG
+  NAMES microxrcedds_agentd-${microxrcedds_agent_MAJOR_MINOR_VERSION} microxrcedds_agentd)
+
+if(MicroXRCEDDS_Agent_LIBRARY_RELEASE AND MicroXRCEDDS_Agent_LIBRARY_DEBUG)
+    set(MicroXRCEDDS_Agent_LIBRARIES
+        optimized ${MicroXRCEDDS_Agent_LIBRARY_RELEASE}
+        debug ${MicroXRCEDDS_Agent_LIBRARY_DEBUG}
+      )
+elseif(MicroXRCEDDS_Agent_LIBRARY_RELEASE)
+    set(MicroXRCEDDS_Agent_LIBRARIES
+        ${MicroXRCEDDS_Agent_LIBRARY_RELEASE}
+      )
+elseif(MicroXRCEDDS_Agent_LIBRARY_DEBUG)
+    set(MicroXRCEDDS_Agent_LIBRARIES
+        ${MicroXRCEDDS_Agent_LIBRARY_DEBUG}
+      )
+else()
+    set(MicroXRCEDDS_Agent_LIBRARIES "")
+endif()
+
+##
+find_library(FastRTPS_LIBRARY_RELEASE
+  NAMES fastrtps-${fastrtps_MAJOR_MINOR_VERSION} fastrtps)
+
+find_library(FastRTPS_LIBRARY_DEBUG
+  NAMES fastrtpsd-${fastrtps_MAJOR_MINOR_VERSION} fastrtpsd)
+
+if(FastRTPS_LIBRARY_RELEASE AND FastRTPS_LIBRARY_DEBUG)
+    set(FastRTPS_LIBRARIES
+        optimized ${FastRTPS_LIBRARY_RELEASE}
+        debug ${FastRTPS_LIBRARY_DEBUG}
+      )
+elseif(FastRTPS_LIBRARY_RELEASE)
+    set(FastRTPS_LIBRARIES
+        ${MicroXRCEDDS_Agent_LIBRARY_RELEASE}
+      )
+elseif(FastRTPS_LIBRARY_DEBUG)
+    set(FastRTPS_LIBRARIES
+        ${MicroXRCEDDS_Agent_LIBRARY_DEBUG}
+      )
+else()
+    set(FastRTPS_LIBRARIES "")
+endif()
+
+##
+find_library(FastCDR_LIBRARY_RELEASE
+  NAMES fastcdr-${fastcdr_MAJOR_MINOR_VERSION} fastcdr)
+
+find_library(FastCDR_LIBRARY_DEBUG
+  NAMES fastcdrd-${fastcdr_MAJOR_MINOR_VERSION} fastcdrd)
+
+if(FastCDR_LIBRARY_RELEASE AND FastCDR_LIBRARY_DEBUG)
+    set(FastCDR_LIBRARIES
+        optimized ${FastCDR_LIBRARY_RELEASE}
+        debug ${FastCDR_LIBRARY_DEBUG}
+      )
+elseif(FastCDR_LIBRARY_RELEASE)
+    set(FastCDR_LIBRARIES
+        ${FastCDR_LIBRARY_RELEASE}
+      )
+elseif(FastCDR_LIBRARY_DEBUG)
+    set(FastCDR_LIBRARIES
+        ${FastCDR_LIBRARY_DEBUG}
+      )
+else()
+    set(FastCDR_LIBRARIES "")
+endif()
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(MicroXRCEDDS_Agent
+        FOUND_VAR MicroXRCEDDS_Agent_FOUND
+  REQUIRED_VARS
+        MicroXRCEDDS_Agent_INCLUDE_DIR
+        MicroXRCEDDS_Agent_LIBRARIES
+)
@@ -0,0 +1,15 @@
+# Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+list(INSERT CMAKE_MODULE_PATH 0 "${microxrcedds_agent_cmake_module_DIR}/Modules")
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>microxrcedds_agent_cmake_module</name>
+  <version>0.1.0</version>
+  <description>Provide CMake module to find eProsima Micro XRCE-DDS Agent</description>
+  <maintainer email="javiermoreno@eprosima.com">Javier Moreno</maintainer>
+  <license>Apache License 2.0</license>
+  <author>Javier Moreno</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <build_depend>microxrcedds_agent</build_depend>
+  <build_export_depend>microxrcedds_agent</build_export_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
@@ -0,0 +1,258 @@
+# Copyright 2018 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.
+
+
+# Set CMake version 
+cmake_minimum_required(VERSION 3.5)
+
+# Set proyect name
+project(uros_agent)
+
+
+set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+
+# Find packages depencences
+find_package(rosidl_cmake REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(fastcdr REQUIRED CONFIG)
+find_package(fastrtps REQUIRED CONFIG)
+find_package(microxrcedds_agent REQUIRED CONFIG)
+find_package(ament_cmake_python REQUIRED)
+
+
+# Export dependencies to downstream packages
+ament_export_dependencies(fastcdr)
+ament_export_dependencies(fastrtps)
+ament_export_dependencies(microxrcedds_agent)
+
+
+# Set variables
+set(_OUTPUT_PATH "${CMAKE_CURRENT_BINARY_DIR}/python")
+
+set(_XML_INTERFACE_GEN_BIN "${_OUTPUT_PATH}/bin/Xml_interface_gen.py")
+normalize_path(_XML_INTERFACE_GEN_BIN "${_XML_INTERFACE_GEN_BIN}")
+
+set(_XML_DEFAULT_READ_BIN "${_OUTPUT_PATH}/bin/Xml_read_default_profiles.py")
+normalize_path(_XML_DEFAULT_READ_BIN "${_XML_DEFAULT_READ_BIN}")
+
+set(_PYTHON_PKG_TOOL ${PROJECT_NAME})
+
+set(_RESOURCE_DIR "${_OUTPUT_PATH}/resource")
+normalize_path(_RESOURCE_DIR "${_RESOURCE_DIR}")
+
+
+set(_DEFAULT_FASTRTPS_PROFILES_PATH "${_OUTPUT_PATH}/gen/DEFAULT_FASTRTPS_PROFILES.xml")
+normalize_path(_DEFAULT_FASTRTPS_PROFILES_PATH "${_DEFAULT_FASTRTPS_PROFILES_PATH}")
+
+
+# Get colcon call dir
+get_filename_component(_COLCON_CALL_DIR "${CMAKE_INSTALL_PREFIX}" DIRECTORY)
+get_filename_component(_COLCON_CALL_DIR "${_COLCON_CALL_DIR}" DIRECTORY)
+
+
+# Generate python header
+set(
+_PYTHON_SCRIPT_HEAD
+"
+import os\n
+import sys\n
+sys.path.append('${_OUTPUT_PATH}')\n
+from ${_PYTHON_PKG_TOOL} import *\n
+"
+)
+
+
+# Copy pyton files  
+file(COPY "bin" "${_PYTHON_PKG_TOOL}" "resource" DESTINATION "${CMAKE_CURRENT_BINARY_DIR}/python")
+
+
+# Extract all packages and manifiest paths
+execute_process(
+  COMMAND
+  "${PYTHON_EXECUTABLE}"
+  "-c"
+  "${_PYTHON_SCRIPT_HEAD}for package in GetInterfacePackages(GetPackageList('${_COLCON_CALL_DIR}')): print ('%s,%s' % (package, GetPackageName(package)))"
+  OUTPUT_VARIABLE _packages
+  RESULT_VARIABLE _result
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+)
+if(NOT _result EQUAL 0)
+  message(FATAL_ERROR "Error finding xml packages")
+endif()
+
+
+# Convert output to list
+string(REPLACE "\n" ";" _packages ${_packages})
+
+
+# Extract all msg from each package (stored in ${package}_MSG_FILES)
+set(ALL_MSG_FILES "")
+foreach(package ${_packages})
+  
+  # Extract info
+  string(REPLACE "," ";" package ${package})
+  list(GET package 0 package_file)
+  list(GET package 1 package)
+
+
+  # Get all msg files
+  execute_process(
+  COMMAND
+  "${PYTHON_EXECUTABLE}"
+  "-c"
+  "${_PYTHON_SCRIPT_HEAD}for msg in GetInterfacePackageMsgs('${package_file}'): print ('%s' % msg)"
+  OUTPUT_VARIABLE ${package}_MSG_FILES
+  RESULT_VARIABLE _result
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+  )
+  if(NOT _result EQUAL 0)
+    message(FATAL_ERROR "Error finding .msg files")
+  endif()
+
+  # Skip if there are no msgs to create
+  if(${package}_MSG_FILES STREQUAL "")
+    continue()
+  endif()
+
+  # Generate list
+  string(REPLACE "\n" ";" ${package}_MSG_FILES ${${package}_MSG_FILES})
+
+endforeach()
+
+
+# Append defaul xml profiles
+execute_process(
+  COMMAND "${PYTHON_EXECUTABLE}" "${_XML_DEFAULT_READ_BIN}" "--default-xml-path" "${_RESOURCE_DIR}"
+  OUTPUT_VARIABLE _XmlDoc
+  RESULT_VARIABLE _result
+  )
+if(NOT _result EQUAL 0)
+  message(FATAL_ERROR "Error in typesuppor generation") 
+endif()
+
+
+# Create one xml for each message
+foreach(package ${_packages})
+  string(REPLACE "," ";" package ${package})
+  list(GET package 0 package_file)
+  list(GET package 1 package)
+
+
+  # Skip this generation if there are no msgs to process
+  if(${package}_MSG_FILES STREQUAL "")
+    continue()
+  endif()
+
+
+
+  # generate script argument file 
+  set(generator_arguments_file "${_OUTPUT_PATH}/XML_ArgFiles/${package}_Args.json")
+  rosidl_write_generator_arguments(
+    "${generator_arguments_file}"
+    PACKAGE_NAME "${package}"
+    ROS_INTERFACE_FILES "${${package}_MSG_FILES}"
+    ROS_INTERFACE_DEPENDENCIES "NULL"
+    OUTPUT_DIR "NULL"
+    TEMPLATE_DIR "NULL"
+    TARGET_DEPENDENCIES "NULL"
+    ADDITIONAL_FILES ""
+  )
+
+
+   # execute python script
+   execute_process(
+    COMMAND "${PYTHON_EXECUTABLE}" "${_XML_INTERFACE_GEN_BIN}" --generator-arguments-file "${generator_arguments_file}"
+    OUTPUT_VARIABLE _XmlGen
+    RESULT_VARIABLE _result
+    )
+  if(NOT _result EQUAL 0)
+    message(FATAL_ERROR "Error in typesuppor generation") 
+  endif()
+
+
+  # Strore xml
+  set(_XmlDoc "${_XmlDoc}${_XmlGen}")
+  
+endforeach()
+
+
+# Close profile 
+set (_XmlDoc "<profiles>\n${_XmlDoc}</profiles>\n")
+
+
+# Save 
+file(WRITE "${_DEFAULT_FASTRTPS_PROFILES_PATH}" "${_XmlDoc}")
+
+
+# Only compile uROS agent if rclcpp is found
+find_package(rclcpp QUIET)
+if (rclcpp_FOUND)
+  find_package(microxrcedds_agent_cmake_module REQUIRED)
+  find_package(MicroXRCEDDS_Agent REQUIRED MODULE)
+
+  add_executable(${PROJECT_NAME} src/main.cpp)
+  ament_target_dependencies(
+    ${PROJECT_NAME} 
+    rclcpp
+    microxrcedds_agent
+  )
+
+  # TODO(Javier) Temporal until thread error is solver
+  target_link_libraries(
+    ${PROJECT_NAME}
+    microxrcedds_agent
+  )
+  
+else()
+  message("uROS agent node will be not build")
+endif()
+
+
+
+
+# Install the package.xml file, and generate code for ``find_package`` so that other packages can get information about this package.
+ament_package()
+
+
+# Only install if uROS_Agent is comiled
+if (rclcpp_FOUND)
+  install(TARGETS
+    ${PROJECT_NAME}
+    DESTINATION lib/${PROJECT_NAME}
+  )
+endif()
+
+
+#Install
+install(
+  FILES "${_DEFAULT_FASTRTPS_PROFILES_PATH}"
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+
+# Install package
+#install(
+#  DIRECTORY cmake resource
+#  DESTINATION share/${PROJECT_NAME}
+#)
@@ -0,0 +1,31 @@
+# Micro ROS Agent
+
+## Overview
+
+This repository contains the Micro-ROS Agent package.
+Micro-ROS Agent is a ROS 2 node that wraps the Micro XRCE-DDS Agent.
+For further information about Micro XRCE-DDS Agent click [here](https://github.com/eProsima/Micro-XRCE-DDS-Agent)
+This package is a part of the Micro-ROS project stack.
+For more information about Micro-ROS project click [here](https://microros.github.io/micro-ROS/).
+
+The node acts as a server between DDS Network and Micro-ROS nodes inside MCU.
+It receives and send messages from Micro-ROS nodes, and keep track of the Micro-ROS nodes exposing them to the ROS 2 network.
+The node interacts with DDS Global Data Space on behalf of the Micro-ROS nodes.
+
+## Package features
+
+### XML generation
+
+During the build process, the package looks for all ROS 2 messages to generate an initial list of XML profiles.
+These profiles can are referenced in the Agent-Client communication to avoid sending the full XML content.
+This reference mechanism can be switched on and off from the Micro XRCE-DDS middleware layer.
+
+### Agent-Client communication mechanism
+
+Communication between the Micro-ROS Agent and the Micro-ROS nodes supports two types of transport:
+
+- UDP.
+- SerialPort.
+
+All available configurations are supported directly by the Micro XRCE-DDS agent.
+For further information on how to configure the agent click [here](TODO).
@@ -0,0 +1,30 @@
+#!/usr/bin/env python3
+
+import argparse
+import os
+import sys
+
+sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)),'..'))
+
+from rosidl_cmake import read_generator_arguments
+from rosidl_parser import UnknownMessageType
+from uros_agent import generate_XML
+
+
+def main(argv=sys.argv[1:]):
+    parser = argparse.ArgumentParser(
+        description='Generate the C interfaces for Micro RTPS.',
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser.add_argument(
+        '--generator-arguments-file',
+        required=True,
+        help='The location of the file containing the generator arguments')
+    args = parser.parse_args(argv)
+
+    generator_args = read_generator_arguments(args.generator_arguments_file)
+    rc = generate_XML(generator_args)
+    return rc
+
+
+if __name__ == '__main__':
+    sys.exit(main())
@@ -0,0 +1,26 @@
+#!/usr/bin/env python3
+
+import os
+import sys
+import argparse
+import xml.etree.ElementTree
+
+sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)),'..'))
+
+from uros_agent import *
+
+def main(argv=sys.argv[1:]):
+    parser = argparse.ArgumentParser(
+        description='Import default xml files',
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser.add_argument(
+        '--default-xml-path',
+        required=True,
+        help='The location of the default profiles')
+    args = parser.parse_args(argv)
+    ReadDefaultXMLs(args.default_xml_path)
+
+    return 0
+
+if __name__ == '__main__':
+    sys.exit(main())
@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>uros_agent</name>
+  <version>0.0.2</version>
+  <description>DDS-XCRE agent implementation </description>
+  <maintainer email="javiermoreno@eprosima.com">Javier Moreno</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_export_depend>ament_cmake</buildtool_export_depend>
+
+  <exec_depend>rosidl_parser</exec_depend>
+
+  <depend>fastcdr</depend>
+  <depend>fastrtps</depend>
+  <depend>microxrcedds_agent_cmake_module</depend>
+  <depend>rosidl_cmake</depend>
+  
+  <build_depend>rclcpp</build_depend>
+
+  <exec_depend>rclcpp</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <group_depend>rosidl_interface_packages</group_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
+
+
+
+
@@ -0,0 +1,24 @@
+    <participant profile_name="participant_profile">
+        <rtps>
+            <name>participant_profile</name>
+        </rtps>
+    </participant>
+    <data_writer profile_name="shapetype_data_writer">
+        <topic>
+            <kind>WITH_KEY</kind>
+            <name>Square</name>
+            <dataType>ShapeType</dataType>
+        </topic>
+    </data_writer>
+    <data_reader profile_name="shapetype_data_reader">
+        <topic>
+            <kind>WITH_KEY</kind>
+            <name>Square</name>
+            <dataType>ShapeType</dataType>
+        </topic>
+    </data_reader>
+    <topic profile_name="shapetype_topic">
+        <kind>WITH_KEY</kind>
+        <name>Square</name>
+        <dataType>ShapeType</dataType>
+    </topic>
@@ -0,0 +1,29 @@
+    <topic profile_name="parameter_events_t">
+        <name>rt/parameter_events</name>
+        <dataType>rcl_interfaces::msg::dds_::ParameterEvent_</dataType>
+    </topic>
+     <topic profile_name="clock_t">
+        <name>rt/clock</name>
+        <dataType>rosgraph_msgs::msg::dds_::Clock_</dataType>
+    </topic>
+    <data_writer profile_name="parameter_events_p">
+        <topic>
+            <kind>NO_KEY</kind>
+            <name>rt/parameter_events</name>
+            <dataType>rcl_interfaces::msg::dds_::ParameterEvent_</dataType>
+        </topic>
+    </data_writer>
+    <data_reader profile_name="clock_s">
+        <topic>
+            <kind>NO_KEY</kind>
+            <name>rt/clock</name>
+            <dataType>rosgraph_msgs::msg::dds_::Clock_</dataType>
+        </topic>
+    </data_reader>
+    <data_reader profile_name="parameter_events_s">
+        <topic>
+            <kind>NO_KEY</kind>
+            <name>rt/parameter_events</name>
+            <dataType>rcl_interfaces::msg::dds_::ParameterEvent_</dataType>
+        </topic>
+    </data_reader>
@@ -0,0 +1,286 @@
+
+// Copyright 2018 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.
+
+#ifdef _WIN32
+#include <uxr/agent/transport/udp/UDPServerWindows.hpp>
+#include <uxr/agent/transport/tcp/TCPServerWindows.hpp>
+
+#elif __unix__
+#include <unistd.h>
+#include <libgen.h>
+
+#include <uxr/agent/transport/serial/SerialServerLinux.hpp>
+#include <uxr/agent/transport/udp/UDPServerLinux.hpp>
+#include <uxr/agent/transport/tcp/TCPServerLinux.hpp>
+#include <termios.h>
+#include <fcntl.h>
+#endif
+
+#include <iostream>
+#include <string>
+#include <limits>
+#include "rclcpp/rclcpp.hpp"
+
+void showHelp()
+{
+    std::cout << "Usage: program <command>" << std::endl;
+    std::cout << "List of commands:" << std::endl;
+    std::cout << "    serial <device_name>" << std::endl;
+    std::cout << "    pseudo-serial" << std::endl;
+    std::cout << "    udp <local_port> [<discovery_port>]" << std::endl;
+    std::cout << "    tcp <local_port> [<discovery_port>]" << std::endl;
+}
+
+void initializationError()
+{
+    std::cout << "Error: Invalid arguments." << std::endl;
+    showHelp();
+    std::exit(EXIT_FAILURE);
+}
+
+uint16_t parsePort(const char* str_port)
+{
+    uint16_t valid_port = 0;
+    try
+    {
+        int port = std::stoi(str_port);
+        if(port > (std::numeric_limits<uint16_t>::max)())
+        {
+            std::cout << "Error: port number '" << port << "out of range." << std::endl;
+            initializationError();
+        }
+        valid_port = uint16_t(port);
+    }
+    catch (const std::invalid_argument& )
+    {
+        initializationError();
+    }
+    return valid_port;
+}
+
+
+class uros_agent : public rclcpp::Node
+{
+public:
+  uros_agent() : Node("uROS_Agent")
+  {
+  }
+
+  ~uros_agent()
+  {
+  }
+
+private:
+
+};
+
+
+int main(int argc, char** argv)
+{
+    
+#ifdef __unix__
+    char exe_path[200];
+    ssize_t count = readlink("/proc/self/exe", exe_path, sizeof(exe_path));
+    if (count != -1) {
+        chdir(dirname(exe_path));
+    }
+#endif
+
+    bool initialized = false;
+
+#ifdef __unix__
+    if(argc == 2 && (strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "--help") == 0))
+    {
+        showHelp();
+    }
+    else if(argc >= 3 && strcmp(argv[1], "udp") == 0)
+    {
+        std::cout << "UDP agent initialization... ";
+        uint16_t port = parsePort(argv[2]);
+        eprosima::uxr::UDPServer* udp_server = (argc == 4) //discovery port
+                                             ? new eprosima::uxr::UDPServer(port, parsePort(argv[3]))
+                                             : new eprosima::uxr::UDPServer(port);
+        if (udp_server->run())
+        {
+            initialized = true;
+        }
+        std::cout << ((!initialized) ? "ERROR" : "OK") << std::endl;
+    }
+    else if(argc >= 3 && strcmp(argv[1], "tcp") == 0)
+    {
+        std::cout << "TCP agent initialization... ";
+        uint16_t port = parsePort(argv[2]);
+        eprosima::uxr::TCPServer* tcp_server = (argc == 4) //discovery port
+                                             ? new eprosima::uxr::TCPServer(port, parsePort(argv[3]))
+                                             : new eprosima::uxr::TCPServer(port);
+        if (tcp_server->run())
+        {
+            initialized = true;
+        }
+        std::cout << ((!initialized) ? "ERROR" : "OK") << std::endl;
+    }
+    else if(argc == 3 && strcmp(argv[1], "serial") == 0)
+    {
+        std::cout << "Serial agent initialization... ";
+
+        /* Open serial device. */
+        int fd = open(argv[2], O_RDWR | O_NOCTTY);
+        if (0 < fd)
+        {
+            struct termios tty_config;
+            memset(&tty_config, 0, sizeof(tty_config));
+            if (0 == tcgetattr(fd, &tty_config))
+            {
+                /* Setting CONTROL OPTIONS. */
+                tty_config.c_cflag |= CREAD;    // Enable read.
+                tty_config.c_cflag |= CLOCAL;   // Set local mode.
+                tty_config.c_cflag &= ~PARENB;  // Disable parity.
+                tty_config.c_cflag &= ~CSTOPB;  // Set one stop bit.
+                tty_config.c_cflag &= ~CSIZE;   // Mask the character size bits.
+                tty_config.c_cflag |= CS8;      // Set 8 data bits.
+                tty_config.c_cflag &= ~CRTSCTS; // Disable hardware flow control.
+
+                /* Setting LOCAL OPTIONS. */
+                tty_config.c_lflag &= ~ICANON;  // Set non-canonical input.
+                tty_config.c_lflag &= ~ECHO;    // Disable echoing of input characters.
+                tty_config.c_lflag &= ~ECHOE;   // Disable echoing the erase character.
+                tty_config.c_lflag &= ~ISIG;    // Disable SIGINTR, SIGSUSP, SIGDSUSP and SIGQUIT signals.
+
+                /* Setting INPUT OPTIONS. */
+                tty_config.c_iflag &= ~IXON;    // Disable output software flow control.
+                tty_config.c_iflag &= ~IXOFF;   // Disable input software flow control.
+                tty_config.c_iflag &= ~INPCK;   // Disable parity check.
+                tty_config.c_iflag &= ~ISTRIP;  // Disable strip parity bits.
+                tty_config.c_iflag &= ~IGNBRK;  // No ignore break condition.
+                tty_config.c_iflag &= ~IGNCR;   // No ignore carrier return.
+                tty_config.c_iflag &= ~INLCR;   // No map NL to CR.
+                tty_config.c_iflag &= ~ICRNL;   // No map CR to NL.
+
+                /* Setting OUTPUT OPTIONS. */
+                tty_config.c_oflag &= ~OPOST;   // Set raw output.
+
+                /* Setting OUTPUT CHARACTERS. */
+                tty_config.c_cc[VMIN] = 10;
+                tty_config.c_cc[VTIME] = 1;
+
+                /* Setting BAUD RATE. */
+                cfsetispeed(&tty_config, B115200);
+                cfsetospeed(&tty_config, B115200);
+
+                if (0 == tcsetattr(fd, TCSANOW, &tty_config))
+                {
+                    eprosima::uxr::SerialServer* serial_server = new eprosima::uxr::SerialServer(fd, 0);
+                    if (serial_server->run())
+                    {
+                        initialized = true;
+                    }
+                }
+            }
+        }
+
+        std::cout << ((!initialized) ? "ERROR" : "OK") << std::endl;
+    }
+    else if (argc == 2 && strcmp(argv[1], "pseudo-serial") == 0)
+    {
+        std::cout << "Pseudo-Serial initialization... ";
+
+        /* Open pseudo-terminal. */
+        char* dev = NULL;
+        int fd = posix_openpt(O_RDWR | O_NOCTTY);
+        if (-1 != fd)
+        {
+            if (grantpt(fd) == 0 && unlockpt(fd) == 0 && (dev = ptsname(fd)))
+            {
+                struct termios attr;
+                tcgetattr(fd, &attr);
+                cfmakeraw(&attr);
+                tcflush(fd, TCIOFLUSH);
+                tcsetattr(fd, TCSANOW, &attr);
+            }
+        }
+
+        /* Launch server. */
+        eprosima::uxr::SerialServer* serial_server = new eprosima::uxr::SerialServer(fd, 0x00);
+        if (serial_server->run())
+        {
+            initialized = true;
+        }
+
+        if (initialized)
+        {
+            std::cout << "OK" << std::endl;
+            std::cout << "Device: " << dev << std::endl;
+        }
+        else
+        {
+            std::cout << "ERROR" << std::endl;
+        }
+    }
+    else
+    {
+        initializationError();
+    }
+#elif _WIN32
+    (void) argc;
+    (void) argv;
+
+    std::string server_type = "";
+    std::cout << "Select server type [udp|tcp]: ";
+    std::cin >> server_type;
+
+    if ("udp" == server_type)
+    {
+        uint16_t port = 0;
+        std::cout << "Select port: ";
+        std::cin >> port;
+
+        std::cout << "UDP agent initialization.... ";
+        eprosima::uxr::UDPServer* udp_server = new eprosima::uxr::UDPServer(port);
+        if (udp_server->run())
+        {
+            initialized = true;
+        }
+        std::cout << ((!initialized) ? "ERROR" : "OK") << std::endl;
+    }
+    else if ("tcp" == server_type)
+    {
+        uint16_t port = 0;
+        std::cout << "Select port: ";
+        std::cin >> port;
+
+        std::cout << "UDP agent initialization.... ";
+        eprosima::uxr::TCPServer* tcp_server = new eprosima::uxr::TCPServer(port);
+        if (tcp_server->run())
+        {
+            initialized = true;
+        }
+        std::cout << ((!initialized) ? "ERROR" : "OK") << std::endl;
+    }
+    else
+    {
+        std::cout << "Error server type" << std::endl;
+    }
+
+#endif
+
+    if(initialized)
+    {
+      rclcpp::init(argc, argv);
+      rclcpp::spin(std::make_shared<uros_agent>());
+      rclcpp::shutdown();
+    }
+
+    return 0;
+}
@@ -0,0 +1,217 @@
+# Copyright 2016 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.
+
+import os
+import sys
+import xml.etree.ElementTree
+
+from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+from rosidl_cmake import expand_template
+from rosidl_cmake import extract_message_types
+from rosidl_cmake import get_newest_modification_time
+from rosidl_parser import parse_message_file
+from rosidl_parser import parse_service_file
+from rosidl_parser import validate_field_types
+
+
+def GetPackage(Dir):
+    
+    # ignore?
+    for f in os.listdir(Dir):
+        full_path = os.path.join(Dir, f)
+        if os.path.isfile(full_path):
+            if f == "COLCON_IGNORE":
+                return "COLCON_IGNORE"
+
+    # found package
+    found_package_path = ""
+    for f in os.listdir(Dir):
+        if f == "package.xml":
+            found_package_path = os.path.join(Dir, f)
+            found_package_path = os.path.abspath(found_package_path)
+            break
+
+
+    return found_package_path
+
+
+def GetPackageList(Dir):
+    package_list = []
+    package_path = GetPackage(Dir)
+
+    if package_path == "":
+        for f in os.listdir(Dir):
+            full_path = os.path.join(Dir, f)
+            if os.path.isdir(full_path):
+                for l in GetPackageList(full_path):
+                    package_list.append(l)
+    elif package_path != "COLCON_IGNORE":
+        package_list.append(package_path)
+    
+    return package_list
+
+
+def GetInterfacePackages(packages_list):
+    package_interface_list = []
+    for package in packages_list:
+        xml_root = xml.etree.ElementTree.parse(package).getroot()
+        for element in xml_root.findall('member_of_group'):
+            if element.text == "rosidl_interface_packages":
+                package_interface_list.append(package)
+    return package_interface_list
+             
+
+def GetPackageName(package_path):
+    xml_root = xml.etree.ElementTree.parse(package_path).getroot()
+    xml_name_elements = xml_root.findall('name')
+    if len(xml_name_elements) != 1:
+        return ""
+    else:
+        return xml_name_elements[0].text
+
+
+def GetInterfacePackageMsgs(package_path):
+    msg_list = []
+    package_dir = os.path.dirname(package_path)
+    for root, dirs, files in os.walk(package_dir):
+        for file in files:
+            if file.endswith(".msg"):
+                full_path = os.path.join(root, file)
+                msg_list.append(full_path)
+    
+    return msg_list
+
+def GetInterfacePackageSrvs(package_path):
+    msg_list = []
+    package_dir = os.path.dirname(package_path)
+    for root, dirs, files in os.walk(package_dir):
+        for file in files:
+            if file.endswith(".srv"):
+                full_path = os.path.join(root, file)
+                msg_list.append(full_path)
+    
+    return msg_list
+
+
+def ReadDefaultXMLs(Path):
+    for f in os.listdir(Path):
+        full_path = os.path.join(Path, f)
+        if os.path.isfile(full_path) and f.endswith(".xml"):
+            #xml_root = xml.etree.ElementTree.parse(full_path).getroot()
+            #if xml_root.iselement():
+            fd = open(full_path)
+            print ("%s" % fd.read())
+            fd.close()
+                
+
+
+def generate_XML(args):    
+    pkg_name = args['package_name']
+    #known_msg_types = extract_message_types(
+    #    pkg_name, args['ros_interface_files'], args.get('ros_interface_dependencies', []))
+
+    functions = {
+        'get_header_filename_from_msg_name': convert_camel_case_to_lower_case_underscore,
+    }
+
+
+    # Set file format
+    ros2_prefix = "rt/"
+
+
+    # Check destination dir
+    dest_dir = args['output_dir']
+    if not os.path.exists(dest_dir):
+        os.makedirs(dest_dir)
+
+
+    # Check source dir
+    srcs_dir = os.path.join(dest_dir, "srcs")
+    if not os.path.exists(srcs_dir):
+        os.makedirs(srcs_dir)
+
+        
+        
+    # Iterate throw all msgs/srvs
+    for idl_file in args['ros_interface_files']:
+        extension = os.path.splitext(idl_file)[1]
+        if extension == '.msg':
+            spec = parse_message_file(pkg_name, idl_file)
+            #validate_field_types(spec, known_msg_types)
+            subfolder = os.path.basename(os.path.dirname(idl_file))
+
+            data = {
+                'spec': spec,
+                'pkg': spec.base_type.pkg_name,
+                'msg': spec.msg_name,
+                'type': spec.base_type.type,
+                'subfolder': subfolder,
+            }
+            data.update(functions)
+
+
+            # Generate source file path
+            src_file = os.path.join(srcs_dir, "%s_%s_%s.xml" % (spec.base_type.pkg_name, subfolder, spec.msg_name))
+
+
+            # Data writer
+            #file_content  = "   <dds>\n"
+            file_content  = "       <data_writer profile_name=\"%s_%s_%s_p\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "           <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "               <kind>NO_KEY</kind>\n"
+            file_content += "               <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "               <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "           </topic>\n"
+            file_content += "       </data_writer>\n"
+            #file_content += "   </dds>\n"
+
+
+            # Data reader
+            #file_content += "   <dds>\n"
+            file_content += "       <data_reader profile_name=\"%s_%s_%s_s\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "           <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "               <kind>NO_KEY</kind>\n"
+            file_content += "               <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "               <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "           </topic>\n"
+            file_content += "       </data_reader>\n"
+            #file_content += "   </dds>\n"
+
+
+            # Topic
+            #file_content += "   <dds>\n"
+            file_content += "       <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "           <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "           <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "       </topic>\n"
+            #file_content += "   </dds>\n"
+
+
+            # Write file content
+            print ("%s" % file_content)
+
+
+
+        #elif extension == '.srv':
+
+            #data = {'spec': spec}
+            #data.update(functions)
+
+            #if not os.path.exists(args['output_dir']):
+            #    os.makedirs(args['output_dir'])
+
+            #f = open(os.path.join(args['output_dir'], 'demofile.txt'), 'w+')
+            #f.write("%s\n" % spec)
+            #f.close()
+    return 0