3.0.5

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

.github/workflows/ci.yml

@@ -3,24 +3,24 @@ name: CI micro-ROS Agent
 on:
     pull_request:
       branches:
-        - 'foxy'
+        - 'humble'
     schedule:
       - cron: '33 6 * * *'
 
 jobs:
 
     microros_agent_ci:
-      runs-on: ubuntu-20.04
+      runs-on: ubuntu-latest
       strategy:
         fail-fast: false
         matrix:
           os: [ ubuntu-20.04 ]
-          ros_distribution: [ foxy ]
+          ros_distribution: [ humble ]
           include:
-            - docker_image: ubuntu:20.04
+            - docker_image: ubuntu:jammy
-              ros_distribution: foxy
+              ros_distribution: humble
       container:
-        image: ubuntu:20.04
+        image: ubuntu:jammy
       steps:
       - uses: actions/checkout@v2
       - uses: ros-tooling/setup-ros@0.3.2
@@ -35,4 +35,3 @@ jobs:
         with:
           package-name: "micro_ros_agent"
           target-ros2-distro: ${{ matrix.ros_distribution }}
-

.github/workflows/snap.yaml

@@ -1,60 +0,0 @@
-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

@@ -2,23 +2,34 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-1.5.3 (2022-06-13)
+3.0.5 (2023-06-06)
-------------------
-* 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)
 ------------------
 
-1.5.1 (2022-03-25)
+3.0.4 (2022-09-28)
 ------------------
-* 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>`_)
+* Fix Datawriter destruction (`#169 <https://github.com/micro-ROS/micro-ROS-Agent/issues/169>`_)
-* Add used missing includes (`#116 <https://github.com/micro-ROS/micro-ROS-Agent/issues/116>`_)
+* Synchronise predicate (`#160 <https://github.com/micro-ROS/micro-ROS-Agent/issues/160>`_)
-* 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>`_)
 
-1.5.0 (2021-09-13)
+3.0.3 (2022-06-13)
+------------------
+* Fix memory leak in graph manager (`#147 <https://github.com/micro-ROS/micro-ROS-Agent/issues/147>`_)
+
+3.0.2 (2022-05-25)
+------------------
+
+3.0.1 (2022-03-25)
+------------------
+* 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>`_)
+
+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/include/agent/graph_manager/graph_manager.hpp

@@ -143,21 +143,6 @@ 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.
@@ -191,21 +176,6 @@ 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.
@@ -335,7 +305,7 @@ 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>3.0.5</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
+                graph_manager_->add_datawriter(datawriter->guid(), participant, datawriter);
-                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_->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
+                graph_manager_->remove_datawriter(datawriter->guid());
-                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);
             });
 
         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
+                graph_manager_->add_datawriter(datawriter->guid(), participant, datawriter);
-                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_->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
+                graph_manager_->remove_datawriter(datawriter->guid());
-                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);
 
                 // 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
+                graph_manager_->add_datawriter(datawriter->guid(), participant, datawriter);
-                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_->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
+                graph_manager_->remove_datawriter(datawriter->guid());
-                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);
 
                 // 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

@@ -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));
@@ -344,9 +345,10 @@ 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(
         const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
@@ -376,24 +378,6 @@ void GraphManager::add_datawriter(
         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);
-}
-
 void GraphManager::remove_datawriter(
         const eprosima::fastrtps::rtps::GUID_t& datawriter_guid)
 {
@@ -431,24 +415,6 @@ void GraphManager::add_datareader(
         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);
-}
-
 void GraphManager::remove_datareader(
         const eprosima::fastrtps::rtps::GUID_t& datareader_guid)
 {
@@ -581,7 +547,7 @@ 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);
         }
@@ -668,6 +634,52 @@ 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)
@@ -684,7 +696,7 @@ 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:
@@ -711,7 +723,7 @@ 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:

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);
 }
 
@@ -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);
 }
 

snap/snapcraft.yaml

@@ -4,7 +4,9 @@ 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 which interact with the ROS 2 world by means of an Agent.  This agent keeps tracks of the entities created by means of
+  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
   requests performed on the microcontroller side, and uses them
   to communicate with the ROS 2 dataspace.
 
@@ -108,7 +110,22 @@ architectures:
   - build-on: armhf
   - build-on: ppc64el
 
+package-repositories:
+- components: [main]
+  formats: [deb]
+  key-id: C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+  key-server: keyserver.ubuntu.com
+  suites: [focal]
+  type: apt
+  url: http://repo.ros2.org/ubuntu/main
+
 parts:
+  ros2-foxy-extension:
+    build-packages: [ros-foxy-ros-core]
+    override-build: install -D -m 0755 launch ${SNAPCRAFT_PART_INSTALL}/snap/command-chain/ros2-launch
+    plugin: nil
+    source: $SNAPCRAFT_EXTENSIONS_DIR/ros2
+
   uros-agent:
     plugin: colcon
     source: .
@@ -125,6 +142,9 @@ parts:
 
     build-packages: [make, gcc, g++]
     stage-packages: [ros-foxy-ros2launch]
+    build-environment:
+    - ROS_VERSION: '2'
+    - ROS_DISTRO: foxy
 
   runner:
     plugin: dump
@@ -139,7 +159,6 @@ apps:
     environment:
         FASTRTPS_DEFAULT_PROFILES_FILE: ${SNAP}/usr/share/fastdds_no_shared_memory.xml
     plugs: [network, network-bind, serial-port]
-    extensions: [ros2-foxy]
 
   daemon:
     command: usr/bin/micro-ros-agent-daemon
@@ -147,5 +166,3 @@ apps:
         FASTRTPS_DEFAULT_PROFILES_FILE: ${SNAP}/usr/share/fastdds_no_shared_memory.xml
     daemon: simple
     plugs: [network, network-bind, serial-port]
-    extensions: [ros2-foxy]
-