5.0.2

* Fix thread include

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

* Update CI

* Revert "Fix thread include"

This reverts commit 1427fb6246.

* fix

* Fix

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

---------

Signed-off-by: Pablo Garrido <pablogs9@gmail.com>
(cherry picked from commit cd321caabe)

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

.github/workflows/ci.yml

@@ -3,27 +3,27 @@ name: CI micro-ROS Agent
 on:
     pull_request:
       branches:
-        - 'foxy'
+        - 'jazzy'
     schedule:
       - cron: '33 6 * * *'
 
 jobs:
 
     microros_agent_ci:
-      runs-on: ubuntu-20.04
+      runs-on: ${{ matrix.os }}
       strategy:
         fail-fast: false
         matrix:
-          os: [ ubuntu-20.04 ]
-          ros_distribution: [ foxy ]
+          os: [ ubuntu-latest ]
+          ros_distribution: [ jazzy ]
           include:
-            - docker_image: ubuntu:20.04
-              ros_distribution: foxy
+            - docker_image: ubuntu:24.04
+              ros_distribution: jazzy
       container:
-        image: ubuntu:20.04
+        image: ${{ matrix.docker_image }}
       steps:
-      - uses: actions/checkout@v2
-      - uses: ros-tooling/setup-ros@0.3.2
+      - uses: actions/checkout@v4
+      - uses: ros-tooling/setup-ros@0.7.7
         with:
           use-ros2-testing: false
           required-ros-distributions: ${{ matrix.ros_distribution }}
@@ -31,8 +31,7 @@ jobs:
         run: |
           apt-get install ros-${{ matrix.ros_distribution }}-micro-ros-msgs
           apt-get install ros-${{ matrix.ros_distribution }}-rmw-fastrtps-cpp
-      - uses : ros-tooling/action-ros-ci@0.2.5
+      - uses : ros-tooling/action-ros-ci@0.3.13
         with:
           package-name: "micro_ros_agent"
           target-ros2-distro: ${{ matrix.ros_distribution }}
-

micro_ros_agent/CHANGELOG.rst

@@ -2,19 +2,45 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-1.5.2 (2022-05-25)
+5.0.2 (2024-05-31)
+------------------
+* Jazzy Release
+* Bump Micro XRCE-DDS Agent (`#226 <https://github.com/micro-ROS/micro-ROS-Agent/issues/226>`_)
+
+5.0.1 (2024-01-29)
+------------------
+* Fix thread include (`#216 <https://github.com/micro-ROS/micro-ROS-Agent/issues/216>`_) (`#218 <https://github.com/micro-ROS/micro-ROS-Agent/issues/218>`_)
+
+5.0.0 (2023-06-06)
+------------------
+* Add empty type key hash to GraphCache (`#189 <https://github.com/micro-ROS/micro-ROS-Agent/issues/189>`_)
+* Contributors: Antonio Cuadros
+
+4.0.2 (2022-09-28)
+------------------
+* Fix Datawriter destruction (`#169 <https://github.com/micro-ROS/micro-ROS-Agent/issues/169>`_) (`#170 <https://github.com/micro-ROS/micro-ROS-Agent/issues/170>`_)
+* Synchronise predicate (`#160 <https://github.com/micro-ROS/micro-ROS-Agent/issues/160>`_) (`#165 <https://github.com/micro-ROS/micro-ROS-Agent/issues/165>`_)
+
+4.0.1 (2022-06-13)
+------------------
+* Fix memory leak in graph manager (`#147 <https://github.com/micro-ROS/micro-ROS-Agent/issues/147>`_) (`#148 <https://github.com/micro-ROS/micro-ROS-Agent/issues/148>`_)
+
+4.0.0 (2022-05-25)
 ------------------
 
-1.5.1 (2022-03-25)
+3.0.1 (2022-03-25)
 ------------------
-* Add services to graph manager (backport `#127 <https://github.com/micro-ROS/micro-ROS-Agent/issues/127>`_) (`#128 <https://github.com/micro-ROS/micro-ROS-Agent/issues/128>`_)
-* Add used missing includes (`#116 <https://github.com/micro-ROS/micro-ROS-Agent/issues/116>`_)
-* Add system logger flag (`#118 <https://github.com/micro-ROS/micro-ROS-Agent/issues/118>`_) (`#120 <https://github.com/micro-ROS/micro-ROS-Agent/issues/120>`_)
-* Add condition variable include (`#113 <https://github.com/micro-ROS/micro-ROS-Agent/issues/113>`_) (`#115 <https://github.com/micro-ROS/micro-ROS-Agent/issues/115>`_)
-* pass system name to xrceagent (`#110 <https://github.com/micro-ROS/micro-ROS-Agent/issues/110>`_) (`#111 <https://github.com/micro-ROS/micro-ROS-Agent/issues/111>`_)
-* Fix memory leak in FastDDS datawriter (`#107 <https://github.com/micro-ROS/micro-ROS-Agent/issues/107>`_) (`#108 <https://github.com/micro-ROS/micro-ROS-Agent/issues/108>`_)
+* Add services to graph manager (`#127 <https://github.com/micro-ROS/micro-ROS-Agent/issues/127>`_) (`#129 <https://github.com/micro-ROS/micro-ROS-Agent/issues/129>`_)
+* Add used missing includes (`#116 <https://github.com/micro-ROS/micro-ROS-Agent/issues/116>`_) (`#124 <https://github.com/micro-ROS/micro-ROS-Agent/issues/124>`_)
+* Add system logger flag (`#118 <https://github.com/micro-ROS/micro-ROS-Agent/issues/118>`_) (`#119 <https://github.com/micro-ROS/micro-ROS-Agent/issues/119>`_)
+* Add condition variable include (`#113 <https://github.com/micro-ROS/micro-ROS-Agent/issues/113>`_) (`#114 <https://github.com/micro-ROS/micro-ROS-Agent/issues/114>`_)
+* pass system name to xrceagent (`#110 <https://github.com/micro-ROS/micro-ROS-Agent/issues/110>`_) (`#112 <https://github.com/micro-ROS/micro-ROS-Agent/issues/112>`_)
+* Fix memory leak in FastDDS datawriter (`#107 <https://github.com/micro-ROS/micro-ROS-Agent/issues/107>`_) (`#109 <https://github.com/micro-ROS/micro-ROS-Agent/issues/109>`_)
 
-1.5.0 (2021-09-13)
+3.0.0 (2021-09-13)
+------------------
+
+1.0.1 (2021-09-13)
 ------------------
 * Remove XRCE dependency and add superbuild (`#97 <https://github.com/micro-ROS/micro-ROS-Agent/issues/97>`_)
 * Fixed launch file by using a list for arguments. Ensures order of items is kept. (`#93 <https://github.com/micro-ROS/micro-ROS-Agent/issues/93>`_) (`#94 <https://github.com/micro-ROS/micro-ROS-Agent/issues/94>`_)

micro_ros_agent/cmake/SuperBuild.cmake

@@ -26,7 +26,7 @@ if(NOT xrceagent_FOUND)
             GIT_REPOSITORY
                 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
             GIT_TAG
-                ros2
+                v2.4.3
             PREFIX
                 ${PROJECT_BINARY_DIR}/agent
             INSTALL_DIR

micro_ros_agent/include/agent/graph_manager/graph_manager.hpp

@@ -65,6 +65,7 @@
 #include <string>
 #include <memory>
 #include <map>
+#include <thread>
 
 namespace uros {
 namespace agent {
@@ -111,6 +112,12 @@ 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.
@@ -137,21 +144,6 @@ public:
             const eprosima::fastrtps::rtps::GUID_t& participant_guid,
             const eprosima::fastdds::dds::DataWriterQos& writer_qos);
 
-    /**
-     * @brief   Adds a DDS datawriter to the graph tree.
-     * @param   datawriter_guid rtps::GUID_t of the datawriter to be added.
-     * @param   topic_name Name of the topic to which the datawriter sends information to.
-     * @param   type_name Type name of the sent topic.
-     * @param   participant_guid rtps::GUID_t of the participant which owns this datawriter.
-     * @param   writer_qos QOS of the datawriter to be included into the graph tree.
-     */
-    void add_datawriter(
-            const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
-            const std::string& topic_name,
-            const std::string& type_name,
-            const eprosima::fastrtps::rtps::GUID_t& participant_guid,
-            const eprosima::fastdds::dds::WriterQos& writer_qos);
-
     /**
      * @brief   Removes a DDS datawriter from the graph tree.
      * @param   datawriter_guid rtps::GUID_t of the datawriter to be removed.
@@ -185,21 +177,6 @@ public:
             const eprosima::fastrtps::rtps::GUID_t& participant_guid,
             const eprosima::fastdds::dds::DataReaderQos& reader_qos);
 
-    /**
-     * @brief   Adds a DDS datareader to the graph tree.
-     * @param   datareader_guid rtps::GUID_t of the datareader to be added.
-     * @param   topic_name Name of the topic to which the datareader sends information to.
-     * @param   type_name Type name of the sent topic.
-     * @param   participant_guid rtps::GUID_t of the participant which owns this datareader.
-     * @param   writer_qos QOS of the datareader to be included into the graph tree.
-     */
-    void add_datareader(
-            const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
-            const std::string& topic_name,
-            const std::string& type_name,
-            const eprosima::fastrtps::rtps::GUID_t& participant_guid,
-            const eprosima::fastdds::dds::ReaderQos& reader_qos);
-
     /**
      * @brief   Removes a DDS datareader from the graph tree.
      * @param   datareader_guid rtps::GUID_t of the datareader to be removed.
@@ -329,7 +306,7 @@ private:
     // Store a auxiliary publishers and datawriter for each participant created in micro-ROS
     std::map<
         const eprosima::fastdds::dds::DomainParticipant*,
-        std::unique_ptr<eprosima::fastdds::dds::DataWriter>
+        eprosima::fastdds::dds::DataWriter*
     > micro_ros_graph_datawriters_;
 };
 

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>5.0.2</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/Agent.cpp

@@ -79,14 +79,9 @@ bool Agent::create(
             {
                 auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
 
-                // TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
-                    datawriter->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
-                    iHandle2GUID(instance_handle);
-                graph_manager_->add_datawriter(datawriter_guid, participant, datawriter);
+                graph_manager_->add_datawriter(datawriter->guid(), participant, datawriter);
                 graph_manager_->associate_entity(
-                    datawriter_guid, participant, dds::xrce::OBJK_DATAWRITER);
+                    datawriter->guid(), participant, dds::xrce::OBJK_DATAWRITER);
             });
         xrce_dds_agent_instance_.add_middleware_callback(
             eprosima::uxr::Middleware::Kind::FASTDDS,
@@ -106,12 +101,7 @@ bool Agent::create(
 
                 auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
 
-                // TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
-                    datawriter->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
-                graph_manager_->remove_datawriter(datawriter_guid);
+                graph_manager_->remove_datawriter(datawriter->guid());
             });
 
         xrce_dds_agent_instance_.add_middleware_callback(
@@ -184,21 +174,15 @@ bool Agent::create(
             {
                 auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
 
-                // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle_dw =
-                    datawriter->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle_dw);
-
-                graph_manager_->add_datawriter(datawriter_guid, participant, datawriter);
+                graph_manager_->add_datawriter(datawriter->guid(), participant, datawriter);
                 graph_manager_->associate_entity(
-                    datawriter_guid, participant, dds::xrce::OBJK_DATAWRITER);
+                    datawriter->guid(), participant, dds::xrce::OBJK_DATAWRITER);
 
                 // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle_dr =
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
                     datareader->get_instance_handle();
                 const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle_dr);
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
                 graph_manager_->add_datareader(datareader_guid, participant, datareader);
                 graph_manager_->associate_entity(
                     datareader_guid, participant, dds::xrce::OBJK_DATAREADER);
@@ -222,18 +206,13 @@ bool Agent::create(
             {
                 auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
 
-                // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle_dw =
-                    datawriter->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle_dw);
-                graph_manager_->remove_datawriter(datawriter_guid);
+                graph_manager_->remove_datawriter(datawriter->guid());
 
                 // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle_dr =
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
                     datareader->get_instance_handle();
                 const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle_dr);
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
                 graph_manager_->remove_datareader(datareader_guid);
             });
 
@@ -256,20 +235,15 @@ bool Agent::create(
             {
                 auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
 
-                // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle_dw =
-                    datawriter->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle_dw);
-                graph_manager_->add_datawriter(datawriter_guid, participant, datawriter);
+                graph_manager_->add_datawriter(datawriter->guid(), participant, datawriter);
                 graph_manager_->associate_entity(
-                    datawriter_guid, participant, dds::xrce::OBJK_DATAWRITER);
+                    datawriter->guid(), participant, dds::xrce::OBJK_DATAWRITER);
 
                 // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle_dr =
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
                     datareader->get_instance_handle();
                 const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle_dr);
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
                 graph_manager_->add_datareader(datareader_guid, participant, datareader);
                 graph_manager_->associate_entity(
                     datareader_guid, participant, dds::xrce::OBJK_DATAREADER);
@@ -293,18 +267,13 @@ bool Agent::create(
             {
                 auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
 
-                // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle_dw =
-                    datawriter->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle_dw);
-                graph_manager_->remove_datawriter(datawriter_guid);
+                graph_manager_->remove_datawriter(datawriter->guid());
 
                 // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle_dr =
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
                     datareader->get_instance_handle();
                 const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle_dr);
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
                 graph_manager_->remove_datareader(datareader_guid);
             });
 

micro_ros_agent/src/agent/graph_manager/graph_manager.cpp

@@ -126,8 +126,10 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
     // Set graph cache on change callback function
     graphCache_.set_on_change_callback([this]()
     {
-        std::unique_lock<std::mutex> lock(this->mtx_);
-        this->graph_changed_ = true;
+        {
+            std::unique_lock<std::mutex> lock(this->mtx_);
+            this->graph_changed_ = true;
+        }
         this->cv_.notify_one();
     });
 
@@ -144,6 +146,7 @@ inline void GraphManager::publish_microros_graph()
             {
                 return this->graph_changed_;
             });
+            graph_changed_ = false;
         }
 
         if (display_on_change_)
@@ -151,7 +154,6 @@ inline void GraphManager::publish_microros_graph()
             std::cout << "Updated uros Graph: graph changed" << std::endl;
             std::cout << graphCache_ << std::endl;
         }
-        graph_changed_ = false;
 
         micro_ros_msgs::msg::Graph graph_message;
 
@@ -320,11 +322,10 @@ void GraphManager::add_participant(
         if (it == micro_ros_graph_datawriters_.end())
         {
             // Create datawriter
-            std::unique_ptr<eprosima::fastdds::dds::DataWriter> datawriter;
-            datawriter.reset(publisher_->create_datawriter(ros_discovery_topic_.get(), datawriter_qos_));
+            eprosima::fastdds::dds::DataWriter * datawriter = publisher_->create_datawriter(ros_discovery_topic_.get(), datawriter_qos_);
 
             it = micro_ros_graph_datawriters_.insert(
-                std::make_pair(participant, std::move(datawriter))).first;
+                std::make_pair(participant, datawriter)).first;
         }
 
         it->second->write(static_cast<void *>(&info));
@@ -344,8 +345,9 @@ void GraphManager::remove_participant(
         rmw_dds_common::convert_gid_to_msg(&gid, &info.gid);
         auto it = micro_ros_graph_datawriters_.find(participant);
         it->second->write(static_cast<void *>(&info));
+        publisher_->delete_datawriter(it->second);
+        micro_ros_graph_datawriters_.erase(participant);
     }
-    micro_ros_graph_datawriters_.erase(participant);
 }
 
 void GraphManager::add_datawriter(
@@ -372,26 +374,8 @@ void GraphManager::add_datawriter(
         "rmw_fastrtps_cpp", participant_guid);
     const rmw_qos_profile_t qos_profile = fastdds_qos_to_rmw_qos(writer_qos);
 
-    graphCache_.add_entity(datawriter_gid, topic_name,
-        type_name, participant_gid, qos_profile, false);
-}
-
-void GraphManager::add_datawriter(
-        const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
-        const std::string& topic_name,
-        const std::string& type_name,
-        const eprosima::fastrtps::rtps::GUID_t& participant_guid,
-        const eprosima::fastdds::dds::WriterQos& writer_qos)
-{
-    const rmw_gid_t datawriter_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
-        "rmw_fastrtps_cpp", datawriter_guid);
-    const rmw_gid_t participant_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
-        "rmw_fastrtps_cpp", participant_guid);
-    rmw_qos_profile_t qos_profile = rmw_qos_profile_unknown;
-    dds_qos_to_rmw_qos(writer_qos, &qos_profile);
-
-    graphCache_.add_entity(datawriter_gid, topic_name,
-        type_name, participant_gid, qos_profile, false);
+    graphCache_.add_entity(datawriter_gid, topic_name, type_name,
+        rosidl_get_zero_initialized_type_hash(), participant_gid, qos_profile, false);
 }
 
 void GraphManager::remove_datawriter(
@@ -427,26 +411,13 @@ void GraphManager::add_datareader(
         "rmw_fastrtps_cpp", participant_guid);
     const rmw_qos_profile_t qos_profile = fastdds_qos_to_rmw_qos(reader_qos);
 
-    graphCache_.add_entity(datareader_gid, topic_name,
-        type_name, participant_gid, qos_profile, true);
-}
-
-void GraphManager::add_datareader(
-        const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
-        const std::string& topic_name,
-        const std::string& type_name,
-        const eprosima::fastrtps::rtps::GUID_t& participant_guid,
-        const eprosima::fastdds::dds::ReaderQos& reader_qos)
-{
-    const rmw_gid_t datareader_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
-        "rmw_fastrtps_cpp", datareader_guid);
-    const rmw_gid_t participant_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
-        "rmw_fastrtps_cpp", participant_guid);
-    rmw_qos_profile_t qos_profile = rmw_qos_profile_unknown;
-    dds_qos_to_rmw_qos(reader_qos, &qos_profile);
-
-    graphCache_.add_entity(datareader_gid, topic_name,
-        type_name, participant_gid, qos_profile, true);
+    // TODO(acuadros95): Use typesupport to calculate type hash on micro-ROS and save and get it from reader_qos.user_data.
+    // Related PRs:
+    // https://github.com/ros2/rmw_dds_common/pull/70
+    // https://github.com/ros2/rmw_fastrtps/pull/671
+    // https://github.com/ros2/rmw_fastrtps/pull/680
+    graphCache_.add_entity(datareader_gid, topic_name, type_name,
+        rosidl_get_zero_initialized_type_hash(), participant_gid, qos_profile, true);
 }
 
 void GraphManager::remove_datareader(
@@ -581,7 +552,7 @@ void GraphManager::update_node_entities_info()
     if (ros_discovery_datareader_->take_next_sample(&entities_info, &sample_info) ==
         eprosima::fastrtps::types::ReturnCode_t::RETCODE_OK)
     {
-        if (sample_info.instance_state == eprosima::fastdds::dds::InstanceStateKind::ALIVE)
+        if (sample_info.instance_state == eprosima::fastdds::dds::InstanceStateKind::ALIVE_INSTANCE_STATE)
         {
             graphCache_.update_participant_entities(entities_info);
         }
@@ -633,7 +604,7 @@ 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 +621,15 @@ 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:
@@ -666,6 +639,52 @@ void GraphManager::ParticipantListener::on_participant_discovery(
     }
 }
 
+static eprosima::fastdds::dds::DataWriterQos writer_qos_conversion(
+    const eprosima::fastdds::dds::WriterQos& writer_qos)
+{
+    eprosima::fastdds::dds::DataWriterQos datawriter_qos;
+    datawriter_qos.durability(writer_qos.m_durability);
+    datawriter_qos.durability_service(writer_qos.m_durabilityService);
+    datawriter_qos.deadline(writer_qos.m_deadline);
+    datawriter_qos.latency_budget(writer_qos.m_latencyBudget);
+    datawriter_qos.liveliness(writer_qos.m_liveliness);
+    datawriter_qos.reliability(writer_qos.m_reliability);
+    datawriter_qos.destination_order(writer_qos.m_destinationOrder);
+    datawriter_qos.lifespan(writer_qos.m_lifespan);
+    datawriter_qos.user_data(writer_qos.m_userData);
+    datawriter_qos.ownership(writer_qos.m_ownership);
+    datawriter_qos.ownership_strength(writer_qos.m_ownershipStrength);
+    datawriter_qos.publish_mode(writer_qos.m_publishMode);
+    datawriter_qos.representation(writer_qos.representation);
+    datawriter_qos.data_sharing(writer_qos.data_sharing);
+
+    return datawriter_qos;
+}
+
+static eprosima::fastdds::dds::DataReaderQos reader_qos_conversion(
+    const eprosima::fastdds::dds::ReaderQos& reader_qos)
+{
+    eprosima::fastdds::dds::DataReaderQos datareader_qos;
+
+    datareader_qos.durability(reader_qos.m_durability);
+    datareader_qos.deadline(reader_qos.m_deadline);
+    datareader_qos.latency_budget(reader_qos.m_latencyBudget);
+    datareader_qos.liveliness(reader_qos.m_liveliness);
+    datareader_qos.reliability(reader_qos.m_reliability);
+    datareader_qos.destination_order(reader_qos.m_destinationOrder);
+    datareader_qos.user_data(reader_qos.m_userData);
+    datareader_qos.ownership(reader_qos.m_ownership);
+    datareader_qos.time_based_filter(reader_qos.m_timeBasedFilter);
+    datareader_qos.lifespan(reader_qos.m_lifespan);
+    datareader_qos.durability_service(reader_qos.m_durabilityService);
+    eprosima::fastdds::dds::TypeConsistencyQos consistency;
+    consistency.type_consistency = reader_qos.type_consistency;
+    datareader_qos.type_consistency(consistency);
+    datareader_qos.data_sharing(reader_qos.data_sharing);
+
+    return datareader_qos;
+}
+
 template <>
 void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtps::rtps::ReaderDiscoveryInfo>(
         const eprosima::fastrtps::rtps::ReaderDiscoveryInfo& reader_info)
@@ -682,7 +701,7 @@ void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtp
             const std::string type_name = reader_info.info.typeName().to_string();
 
             graphManager_from_->add_datareader(reader_info.info.guid(), topic_name, type_name,
-                iHandle2GUID(reader_info.info.RTPSParticipantKey()), reader_info.info.m_qos);
+                iHandle2GUID(reader_info.info.RTPSParticipantKey()), reader_qos_conversion(reader_info.info.m_qos));
             break;
         }
         default:
@@ -709,7 +728,7 @@ void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtp
             const std::string type_name = writer_info.info.typeName().to_string();
 
             graphManager_from_->add_datawriter(writer_info.info.guid(), topic_name, type_name,
-                iHandle2GUID(writer_info.info.RTPSParticipantKey()), writer_info.info.m_qos);
+                iHandle2GUID(writer_info.info.RTPSParticipantKey()), writer_qos_conversion(writer_info.info.m_qos));
             break;
         }
         default:
@@ -751,4 +770,4 @@ void GraphManager::DatareaderListener::on_data_available(
 }  // namespace agent
 }  // namespace uros
 
-#endif  // _UROS_AGENT_GRAPH_MANAGER_CPP
+#endif  // _UROS_AGENT_GRAPH_MANAGER_CPP

micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp

@@ -43,7 +43,7 @@ ParticipantEntitiesInfoTypeSupport::ParticipantEntitiesInfoTypeSupport()
     ss << "dds_::" << message_name << "_";
     this->setName(ss.str().c_str());
 
-    bool full_bounded = true;
+    char full_bounded;
     m_typeSize = 4 + callbacks_->max_serialized_size(full_bounded);
 }
 
@@ -54,14 +54,14 @@ bool ParticipantEntitiesInfoTypeSupport::serialize(
     eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
         payload->max_size);
     eprosima::fastcdr::Cdr scdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-        eprosima::fastcdr::Cdr::DDS_CDR);
+        eprosima::fastcdr::DDS_CDR);
 
     scdr.serialize_encapsulation();
     if (callbacks_->cdr_serialize(data, scdr))
     {
         payload->encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
             CDR_BE : CDR_LE;
-        payload->length = static_cast<uint32_t>(scdr.getSerializedDataLength());
+        payload->length = static_cast<uint32_t>(scdr.get_serialized_data_length());
         return true;
     }
     else
@@ -77,7 +77,7 @@ bool ParticipantEntitiesInfoTypeSupport::deserialize(
     eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
         payload->length);
     eprosima::fastcdr::Cdr dcdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-        eprosima::fastcdr::Cdr::DDS_CDR);
+        eprosima::fastcdr::DDS_CDR);
 
     dcdr.read_encapsulation();
     return callbacks_->cdr_deserialize(dcdr, data);
@@ -135,7 +135,7 @@ MicrorosGraphInfoTypeSupport::MicrorosGraphInfoTypeSupport()
     ss << "dds_::" << message_name << "_";
     this->setName(ss.str().c_str());
 
-    bool full_bounded = true;
+    char full_bounded;
     m_typeSize = 4 + callbacks_->max_serialized_size(full_bounded);
 }
 
@@ -146,14 +146,14 @@ bool MicrorosGraphInfoTypeSupport::serialize(
     eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
         payload->max_size);
     eprosima::fastcdr::Cdr scdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-        eprosima::fastcdr::Cdr::DDS_CDR);
+        eprosima::fastcdr::DDS_CDR);
 
     scdr.serialize_encapsulation();
     if (callbacks_->cdr_serialize(data, scdr))
     {
         payload->encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
             CDR_BE : CDR_LE;
-        payload->length = static_cast<uint32_t>(scdr.getSerializedDataLength());
+        payload->length = static_cast<uint32_t>(scdr.get_serialized_data_length());
         return true;
     }
     else
@@ -169,7 +169,7 @@ bool MicrorosGraphInfoTypeSupport::deserialize(
     eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
         payload->length);
     eprosima::fastcdr::Cdr dcdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-        eprosima::fastcdr::Cdr::DDS_CDR);
+        eprosima::fastcdr::DDS_CDR);
 
     dcdr.read_encapsulation();
     return callbacks_->cdr_deserialize(dcdr, data);