1.5.3

Signed-off-by: Pablo Garrido <pablogs9@gmail.com>

.github/workflows/snap.yaml

@@ -0,0 +1,60 @@
+name: snap
+on:
+  push:
+    tags:
+      - '*'
+    branches:
+      - foxy
+  pull_request:
+    branches:
+      - foxy
+  workflow_dispatch:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    outputs:
+      snap-file: ${{ steps.build-snap.outputs.snap }}
+    strategy:
+      matrix:
+        architecture:
+        - linux/amd64
+        - linux/arm64
+    steps:
+    - uses: actions/checkout@v2
+    - uses: snapcore/action-build@v1
+      id: build-snap
+      with:
+        snapcraft-args: '--enable-experimental-extensions'
+
+    # Make sure the snap is installable
+    - run: |
+        sudo snap install --dangerous ${{ steps.build-snap.outputs.snap }}
+
+    # @todo Do some testing with the snap
+    - run: |
+        micro-ros-agent udp4
+    - uses: actions/upload-artifact@v3
+      with:
+        name: micro-ros-agent-snap
+        path: ${{ steps.build-snap.outputs.snap }}
+
+  publish:
+    if: github.ref == 'refs/heads/foxy' || startsWith(github.ref, 'refs/tags/')
+    runs-on: ubuntu-latest
+    needs: build
+    strategy:
+      matrix:
+        architecture:
+        - linux/amd64
+        - linux/arm64
+    steps:
+    - uses: actions/download-artifact@v3
+      with:
+        name: micro-ros-agent-snap
+        path: .
+    - uses: snapcore/action-publish@v1
+      with:
+        store_login: ${{ secrets.STORE_LOGIN }}
+        snap: ${{needs.build.outputs.snap-file}}
+        release: ${{ startsWith(github.ref, 'refs/tags/') && 'candidate' || 'edge'}}

README.md

@@ -55,4 +55,4 @@ see the file [3rd-party-licenses.txt](3rd-party-licenses.txt).
 Please notice the following issues/limitations:
 
 * There is an unknown issue when dealing with serial ports shared with the micro-ROS agent running inside a Docker. Sometimes it works with a remarkable packet loss.
-* There is an known issues with serial port communication on micro-ros-agent snap version. It is recommended to use the dockerized version or build it from source.
+

micro_ros_agent/CHANGELOG.rst

@@ -2,6 +2,10 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.5.3 (2022-06-13)
+------------------
+* Fix memory leak in graph manager (`#147 <https://github.com/micro-ROS/micro-ROS-Agent/issues/147>`_) (`#149 <https://github.com/micro-ROS/micro-ROS-Agent/issues/149>`_)
+
 1.5.2 (2022-05-25)
 ------------------
 

micro_ros_agent/include/agent/graph_manager/graph_manager.hpp

@@ -111,6 +111,12 @@ public:
         const eprosima::fastdds::dds::DomainParticipant* participant,
         bool from_microros = true);
 
+    /**
+     * @brief   Getter for the graph cache.
+     * @return  Reference to inner graph cache
+     */
+    rmw_dds_common::GraphCache& get_graph_cache() { return graphCache_; }
+
     /**
      * @brief   Adds a DDS datawriter to the graph tree.
      * @param   datawriter_guid rtps::GUID_t of the datawriter to be added.

micro_ros_agent/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>micro_ros_agent</name>
-  <version>1.5.2</version>
+  <version>1.5.3</version>
   <description>micro-ROS Agent package</description>
   <maintainer email="pablogarrido@eprosima.com">Pablo Garrido</maintainer>
   <maintainer email="antoniocuadros@eprosima.com">Antonio Cuadros</maintainer>

micro_ros_agent/src/agent/graph_manager/graph_manager.cpp

@@ -633,7 +633,7 @@ GraphManager::ParticipantListener::ParticipantListener(
 }
 
 void GraphManager::ParticipantListener::on_participant_discovery(
-        eprosima::fastdds::dds::DomainParticipant* participant,
+        eprosima::fastdds::dds::DomainParticipant* /* participant */,
         eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info)
 {
     switch (info.status)
@@ -650,13 +650,15 @@ void GraphManager::ParticipantListener::on_participant_discovery(
             const std::string enclave =
                 std::string(name_found->second.begin(), name_found->second.end());
 
-            graphManager_from_->add_participant(participant, false, enclave);
+            const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", info.info.m_guid);
+            graphManager_from_->get_graph_cache().add_participant(gid, enclave);
             break;
         }
         case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT:
         case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DROPPED_PARTICIPANT:
         {
-            graphManager_from_->remove_participant(participant, false);
+            const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", info.info.m_guid);
+            graphManager_from_->get_graph_cache().remove_participant(gid);
             break;
         }
         default:

snap/local/fastdds_no_shared_memory.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+    <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
+        <transport_descriptors>
+            <transport_descriptor>
+                <transport_id>CustomUdpTransport</transport_id>
+                <type>UDPv4</type>
+            </transport_descriptor>
+        </transport_descriptors>
+
+        <participant profile_name="participant_profile" is_default_profile="true">
+            <rtps>
+                <userTransports>
+                    <transport_id>CustomUdpTransport</transport_id>
+                </userTransports>
+
+                <useBuiltinTransports>false</useBuiltinTransports>
+            </rtps>
+        </participant>
+    </profiles>

snap/local/micro-ros-agent-daemon

@@ -24,4 +24,4 @@ if [ -n "$p2p_port" ]; then
 	set -- --p2p "$p2p_port" "$@"
 fi
 
-exec "$SNAP/lib/micro_ros_agent/micro_ros_agent" "$transport" "$@"
+exec "$SNAP/opt/ros/snap/lib/micro_ros_agent/micro_ros_agent" "$transport" "$@"

snap/snapcraft.yaml

@@ -4,9 +4,7 @@ version: git
 summary: Bridge between Micro ROS client applications and ROS 2
 description: |
   Micro-ROS, whose default implementation is based on eProsima's
-  Micro XRCE-DDS middleware, is composed of client applications
+  Micro XRCE-DDS middleware, is composed of client applications which interact with the ROS 2 world by means of an Agent.  This agent keeps tracks of the entities created by means of
-  which interact with the ROS 2 world by means of an Agent.
-  This agent keeps tracks of the entities created by means of
   requests performed on the microcontroller side, and uses them
   to communicate with the ROS 2 dataspace.
 
@@ -71,16 +69,6 @@ description: |
 
         $ snap set micro-ros-agent device="device path"
 
-  If connecting the micro-ROS Agent using an IP based connection mode,
-  that is, `udp4`, `udp6`, `tcp4` or `tcp6`, care must be taken to
-  connect first the `micro-ros-agent-shm-netplug` plug.
-  This is due to the fact that ROS 2 Foxy is using Fast-DDS as the
-  default DDS middleware, and Fast-DDS comes with *shared memory transport*.
-  Thus, this plugin must be enabled, in order to gain access to the
-  `/dev/shm` folder from the snap image, prior to running it:
-
-      $ sudo snap connect micro-ros-agent:micro-ros-agent-shm-netplug
-
   When using the snap with a serial device, some steps need to be taken
   in order to establish a successful connection:
 
@@ -121,21 +109,20 @@ architectures:
   - build-on: ppc64el
 
 parts:
-
   uros-agent:
     plugin: colcon
     source: .
-    override-build: |
+    colcon-cmake-args:
-        set +u
+      - -DMICROROSAGENT_SUPERBUILD=ON
-        git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git -b $ROS_DISTRO
+      - --cmake-force-configure
-        git clone https://github.com/eProsima/Micro-CDR.git -b $ROS_DISTRO
+    override-pull: |
-        git clone https://github.com/micro-ROS/micro_ros_msgs.git -b $ROS_DISTRO
+        snapcraftctl pull
-        git clone https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git -b $ROS_DISTRO
+
-        git clone https://github.com/micro-ROS/rmw-microxrcedds.git -b $ROS_DISTRO
+        version="$(git describe --always --tags| sed -e 's/^v//;s/-/+git/;y/-/./')"
-        git clone https://github.com/micro-ROS/micro-ROS-Agent.git -b $ROS_DISTRO
+        [ -n "$(echo $version | grep "+git")" ] && grade=devel || grade=stable
-        . /opt/ros/$ROS_DISTRO/setup.sh
+        snapcraftctl set-version "$version"
-        colcon build --merge-install --install-base $SNAPCRAFT_PRIME --cmake-args "-DUAGENT_BUILD_EXECUTABLE=OFF -DUAGENT_USE_SYSTEM_FASTDDS=ON" --packages-up-to micro_ros_agent
+        snapcraftctl set-grade "$grade"
-        set -u
+
     build-packages: [make, gcc, g++]
     stage-packages: [ros-foxy-ros2launch]
 
@@ -143,26 +130,22 @@ parts:
     plugin: dump
     source: snap/local/
     organize:
-      '*': usr/bin/
+      'micro-ros-agent-daemon': usr/bin/
-
+      'fastdds_no_shared_memory.xml': usr/share/
-plugs:
-  micro-ros-agent-shm-netplug:
-    interface: system-files
-    allow-auto-connection: true
-    write:
-      - /dev/shm
 
 apps:
   micro-ros-agent:
-    command: lib/micro_ros_agent/micro_ros_agent
+    command: opt/ros/snap/lib/micro_ros_agent/micro_ros_agent
     environment:
-        LD_LIBRARY_PATH: "$LD_LIBRARY_PATH:$SNAP/lib"
+        FASTRTPS_DEFAULT_PROFILES_FILE: ${SNAP}/usr/share/fastdds_no_shared_memory.xml
-    plugs: [network, network-bind, serial-port, micro-ros-agent-shm-netplug]
+    plugs: [network, network-bind, serial-port]
     extensions: [ros2-foxy]
 
   daemon:
     command: usr/bin/micro-ros-agent-daemon
     environment:
-        LD_LIBRARY_PATH: "$LD_LIBRARY_PATH:$SNAP/lib"
+        FASTRTPS_DEFAULT_PROFILES_FILE: ${SNAP}/usr/share/fastdds_no_shared_memory.xml
     daemon: simple
-    plugs: [network, network-bind, serial-port, micro-ros-agent-shm-netplug]
+    plugs: [network, network-bind, serial-port]
+    extensions: [ros2-foxy]
+