1.5.4

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

Signed-off-by: Pablo Garrido <pablogs9@gmail.com>
(cherry picked from commit 4f686e8dc1)

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

.github/workflows/snap.yaml

@@ -15,11 +15,6 @@ jobs:
     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
@@ -43,11 +38,6 @@ jobs:
     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:

micro_ros_agent/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.5.4 (2022-09-28)
+------------------
+* Fix Datawriter destruction (`#169 <https://github.com/micro-ROS/micro-ROS-Agent/issues/169>`_) (`#171 <https://github.com/micro-ROS/micro-ROS-Agent/issues/171>`_)
+* Synchronise predicate (`#160 <https://github.com/micro-ROS/micro-ROS-Agent/issues/160>`_) (`#167 <https://github.com/micro-ROS/micro-ROS-Agent/issues/167>`_)
+
 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>`_)

micro_ros_agent/include/agent/graph_manager/graph_manager.hpp

@@ -335,7 +335,7 @@ 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>1.5.3</version>
+  <version>1.5.4</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

@@ -125,9 +125,11 @@ 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;
+        }
         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;
+            eprosima::fastdds::dds::DataWriter * datawriter = publisher_->create_datawriter(ros_discovery_topic_.get(), datawriter_qos_);
-            datawriter.reset(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);
+    }
 }
 
 void GraphManager::add_datawriter(