Update graph destructor

* Fix graph manager datawriters

Fixes

Fix

Fix destruction

* Revert "Fix graph manager datawriters"

This reverts commit 2847a2ebc3.

* Initial

(cherry picked from commit 646ca52aab)

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

.github/workflows/ci.yml

@@ -2,37 +2,37 @@ name: CI micro-ROS Agent
 
 on:
     pull_request:
-      branches:
+      branches: 
-        - 'foxy'
+        - '**'
-    schedule:
-      - cron: '33 6 * * *'
 
 jobs:
 
     microros_agent_ci:
-      runs-on: ubuntu-20.04
+        runs-on: ubuntu-20.04
-      strategy:
+        container: microros/base:rolling
-        fail-fast: false
-        matrix:
-          os: [ ubuntu-20.04 ]
-          ros_distribution: [ foxy ]
-          include:
-            - docker_image: ubuntu:20.04
-              ros_distribution: foxy
-      container:
-        image: ubuntu:20.04
-      steps:
-      - uses: actions/checkout@v2
-      - uses: ros-tooling/setup-ros@0.3.2
-        with:
-          use-ros2-testing: false
-          required-ros-distributions: ${{ matrix.ros_distribution }}
-      - name : Download and install dependencies
-        run: |
-          apt-get install ros-${{ 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
-        with:
-          package-name: "micro_ros_agent"
-          target-ros2-distro: ${{ matrix.ros_distribution }}
 
+        steps:
+        - uses: actions/checkout@v2
+          with:
+            path: urosagent
+
+        - name: Download dependencies
+          run: |
+            apt update
+            cd /uros_ws
+            . /opt/ros/$ROS_DISTRO/setup.sh
+            . install/local_setup.sh
+            rosdep update
+            ros2 run micro_ros_setup create_agent_ws.sh 
+        
+        - name: Patch branch
+          run: |
+            rm -rf /uros_ws/src/uros/micro-ROS-Agent/*
+            cp -R urosagent/* /uros_ws/src/uros/micro-ROS-Agent/
+
+        - name: Build
+          run:  |
+            cd /uros_ws
+            . /opt/ros/$ROS_DISTRO/setup.sh
+            . install/local_setup.sh
+            ros2 run micro_ros_setup build_agent.sh 

.github/workflows/snap.yaml

@@ -1,50 +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 }}
-    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
-    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 +55,3 @@ 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.
-

micro_ros_agent/CHANGELOG.rst

@@ -2,43 +2,6 @@
 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>`_)
-
-1.5.2 (2022-05-25)
-------------------
-
-1.5.1 (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>`_)
-
-1.5.0 (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>`_)
-* Modify argument type (`#91 <https://github.com/micro-ROS/micro-ROS-Agent/issues/91>`_)
-* Fix graph manager datawriters behaviour (`#84 <https://github.com/micro-ROS/micro-ROS-Agent/issues/84>`_)
-* Graph manager: Fix participant mask for listener callbacks (`#81 <https://github.com/micro-ROS/micro-ROS-Agent/issues/81>`_)
-* Fix agent launch (`#78 <https://github.com/micro-ROS/micro-ROS-Agent/issues/78>`_)
-* Fix graph manager node namespaces (`#75 <https://github.com/micro-ROS/micro-ROS-Agent/issues/75>`_)
-* Fix Rolling agent (`#61 <https://github.com/micro-ROS/micro-ROS-Agent/issues/61>`_)
-* Add multi domain graph manager (`#69 <https://github.com/micro-ROS/micro-ROS-Agent/issues/69>`_)
-* Add ros2 launch capabilities and example launch file (`#47 <https://github.com/micro-ROS/micro-ROS-Agent/issues/47>`_)
-* Snap build for the micro-ROS-Agent (`#43 <https://github.com/micro-ROS/micro-ROS-Agent/issues/43>`_)
-* Create graph manager after checking passed CLI arguments and launch xrce-dds server (`#41 <https://github.com/micro-ROS/micro-ROS-Agent/issues/41>`_)
-* Contributors: Antonio Cuadros, Jose Antonio Moral, Pablo Garrido, mergify[bot]
-
 0.0.1 (2019-04-24)
 -----------------
 * Initial release

micro_ros_agent/CMakeLists.txt

@@ -14,21 +14,15 @@
 
 cmake_minimum_required(VERSION 3.5)
 
+option(BUILD_SHARED_LIBS "Control shared/static building." ON)
+option(UBUILD_AGENT_EXECUTABLE "Control shared/static building." ON)
+
 option(UROSAGENT_GENERATE_PROFILE
   "Generates agent.refs according to the .msgs provided in the .repos" OFF
   )
 set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)
 
-option(MICROROSAGENT_SUPERBUILD "Enable superbuild compilation." ON)
+project(micro_ros_agent LANGUAGES CXX)
-option(UAGENT_USE_SYSTEM_LOGGER "Force use of system installed spdlog logger on superbuild." OFF)
-
-if(NOT MICROROSAGENT_SUPERBUILD)
-    project(micro_ros_agent LANGUAGES CXX)
-else()
-    project(uagent_superbuild NONE)
-    include(${PROJECT_SOURCE_DIR}/cmake/SuperBuild.cmake)
-    return()
-endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(microxrcedds_agent REQUIRED)
@@ -50,15 +44,26 @@ find_package(ament_cmake_gtest REQUIRED)
 
 find_package(micro_ros_msgs REQUIRED)
 
-add_executable(${PROJECT_NAME}
+include(GNUInstallDirs)
-  src/main.cpp
+set(BIN_INSTALL_DIR     ${CMAKE_INSTALL_BINDIR}     CACHE PATH "Installation directory for binaries")
+set(INCLUDE_INSTALL_DIR ${CMAKE_INSTALL_INCLUDEDIR} CACHE PATH "Installation directory for C headers")
+set(LIB_INSTALL_DIR     ${CMAKE_INSTALL_LIBDIR}     CACHE PATH "Installation directory for libraries")
+set(DATA_INSTALL_DIR    ${CMAKE_INSTALL_DATADIR}    CACHE PATH "Installation directory for data")
+
+# Set source files
+set(SRCS
   src/agent/Agent.cpp
   src/agent/graph_manager/graph_manager.cpp
   src/agent/graph_manager/graph_typesupport.cpp
   src/agent/utils/demangle.cpp
   )
 
-target_include_directories(${PROJECT_NAME}
+# Library
+add_library(${PROJECT_NAME} ${SRCS})
+
+target_include_directories(${PROJECT_NAME} BEFORE
+  PUBLIC
+    $<INSTALL_INTERFACE:${INCLUDE_INSTALL_DIR}>
   PRIVATE
     include
   )
@@ -83,27 +88,6 @@ target_link_libraries(${PROJECT_NAME}
   $<$<BOOL:$<PLATFORM_ID:Linux>>:dl>
   )
 
-target_compile_options(${PROJECT_NAME}
-  PRIVATE
-    $<$<C_COMPILER_ID:GNU>:-Wall>
-    $<$<C_COMPILER_ID:GNU>:-Wextra>
-    $<$<C_COMPILER_ID:GNU>:-pedantic>
-  )
-
-set_target_properties(${PROJECT_NAME} PROPERTIES
-  CXX_STANDARD
-    14
-  CXX_STANDARD_REQUIRED
-    YES
-  )
-
-set_target_properties(${PROJECT_NAME} PROPERTIES
-  CXX_STANDARD
-    14
-  CXX_STANDARD_REQUIRED
-    YES
-  )
-
 target_compile_options(${PROJECT_NAME}
   PRIVATE
     $<$<OR:$<CXX_COMPILER_ID:GNU>,$<CXX_COMPILER_ID:Clang>>:-Wall>
@@ -111,24 +95,105 @@ target_compile_options(${PROJECT_NAME}
     $<$<OR:$<CXX_COMPILER_ID:GNU>,$<CXX_COMPILER_ID:Clang>>:-Wpedantic>
   )
 
+set_target_properties(${PROJECT_NAME} PROPERTIES
+  CXX_STANDARD
+    14
+  CXX_STANDARD_REQUIRED
+    YES
+  )
+
+# Install agent lib
+install(
+    TARGETS
+        ${PROJECT_NAME}
+    EXPORT
+        ${PROJECT_NAME}Targets
+    RUNTIME DESTINATION
+        ${BIN_INSTALL_DIR}
+    LIBRARY DESTINATION
+        ${LIB_INSTALL_DIR}
+    ARCHIVE DESTINATION
+        ${LIB_INSTALL_DIR}
+    COMPONENT
+        libraries
+    )
+
+# Install includes
+install(
+    DIRECTORY
+        ${PROJECT_SOURCE_DIR}/include/agent
+    DESTINATION
+        ${INCLUDE_INSTALL_DIR}
+    FILES_MATCHING
+        PATTERN "*.hpp"
+        PATTERN "*.h"
+    )
+
+# Export library
+install(
+  EXPORT
+      ${PROJECT_NAME}Targets
+  DESTINATION
+      ${DATA_INSTALL_DIR}/${PROJECT_NAME}/cmake
+  )
+
+# Package configuration
+include(CMakePackageConfigHelpers)
+
+configure_package_config_file(
+      ${PROJECT_SOURCE_DIR}/cmake/Config.cmake.in
+        ${PROJECT_BINARY_DIR}/cmake/config/${PROJECT_NAME}Config.cmake
+    INSTALL_DESTINATION
+        ${DATA_INSTALL_DIR}/${PROJECT_NAME}/cmake
+    PATH_VARS
+        BIN_INSTALL_DIR
+        INCLUDE_INSTALL_DIR
+        LIB_INSTALL_DIR
+        DATA_INSTALL_DIR
+    )
+
+install(
+  FILES
+      ${PROJECT_BINARY_DIR}/cmake/config/${PROJECT_NAME}Config.cmake
+  DESTINATION
+      ${DATA_INSTALL_DIR}/${PROJECT_NAME}/cmake
+  )
+
+if(UBUILD_AGENT_EXECUTABLE)
+  add_executable(micro_ros_agent_bin
+    ${SRCS}
+    src/main.cpp
+    )
+
+  target_include_directories(micro_ros_agent_bin
+    PRIVATE
+      $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+    )
+
+  target_link_libraries(micro_ros_agent_bin ${PROJECT_NAME})
+
+  set_target_properties(micro_ros_agent_bin
+      PROPERTIES OUTPUT_NAME ${PROJECT_NAME})
+
+  install(
+    TARGETS
+      micro_ros_agent_bin
+    DESTINATION
+      lib/${PROJECT_NAME}
+    )
+
+  install(
+    DIRECTORY
+      launch
+    DESTINATION
+      share/${PROJECT_NAME}
+    )
+endif()
+
 ament_export_dependencies(microxrcedds_agent)
 
 ament_package()
 
-install(
-  TARGETS
-    ${PROJECT_NAME}
-  DESTINATION
-    lib/${PROJECT_NAME}
-  )
-
-install(
-  DIRECTORY
-    launch
-  DESTINATION
-    share/${PROJECT_NAME}
-  )
-
 if(UROSAGENT_GENERATE_PROFILE)
   set(_OUTPUT_PATH "${CMAKE_CURRENT_BINARY_DIR}/python")
 

micro_ros_agent/cmake/Config.cmake.in

@@ -0,0 +1,32 @@
+# 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.
+
+set(@PROJECT_NAME@_VERSION @PROJECT_VERSION@)
+
+@PACKAGE_INIT@
+
+if(MSVC OR MSVC_IDE)
+    set_and_check(@PROJECT_NAME@_BIN_DIR "@PACKAGE_BIN_INSTALL_DIR@")
+endif()
+set_and_check(@PROJECT_NAME@_INCLUDE_DIR "@PACKAGE_INCLUDE_INSTALL_DIR@")
+set_and_check(@PROJECT_NAME@_LIB_DIR "@PACKAGE_LIB_INSTALL_DIR@")
+set_and_check(@PROJECT_NAME@_DATA_DIR "@PACKAGE_DATA_INSTALL_DIR@")
+
+foreach(d @_deps@)
+    list(GET d 0 _name)
+    list(GET d 1 _version)
+    find_package(${_name} ${_version} REQUIRED)
+endforeach()
+
+include(${@PROJECT_NAME@_DATA_DIR}/@PROJECT_NAME@/cmake/@PROJECT_NAME@Targets.cmake)

micro_ros_agent/cmake/SuperBuild.cmake

@@ -1,68 +0,0 @@
-# Copyright 2019 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.
-
-include(ExternalProject)
-
-unset(_deps)
-
-enable_language(C)
-enable_language(CXX)
-
-unset(xrceagent_DIR CACHE)
-find_package(xrceagent 2 EXACT QUIET)
-if(NOT xrceagent_FOUND)
-    ExternalProject_Add(xrceagent
-            GIT_REPOSITORY
-                https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
-            GIT_TAG
-                ros2
-            PREFIX
-                ${PROJECT_BINARY_DIR}/agent
-            INSTALL_DIR
-                ${CMAKE_INSTALL_PREFIX}
-            CMAKE_CACHE_ARGS
-                -DCMAKE_CXX_COMPILER:FILEPATH=${CMAKE_CXX_COMPILER}
-                -DCMAKE_C_COMPILER:FILEPATH=${CMAKE_C_COMPILER}
-                -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
-                -DCMAKE_C_FLAGS:STRING=${CMAKE_C_FLAGS}
-                -DCMAKE_CXX_FLAGS:STRING=${CMAKE_CXX_FLAGS}
-                -DCMAKE_EXE_LINKER_FLAGS:STRING=${CMAKE_EXE_LINKER_FLAGS}
-                -DCMAKE_SHARED_LINKER_FLAGS:STRING=${CMAKE_SHARED_LINKER_FLAGS}
-                -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR>
-                -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
-                -DCMAKE_PREFIX_PATH:PATH=<INSTALL_DIR>
-                -DCMAKE_SYSTEM_NAME:STRING=${CMAKE_SYSTEM_NAME}
-                -DUAGENT_USE_SYSTEM_FASTDDS:BOOL=ON
-                -DUAGENT_USE_SYSTEM_FASTCDR:BOOL=ON
-                -DUAGENT_USE_SYSTEM_LOGGER:BOOL=${UAGENT_USE_SYSTEM_LOGGER}
-                -DUAGENT_CED_PROFILE:BOOL=OFF
-                -DUAGENT_P2P_PROFILE:BOOL=OFF
-                -DUAGENT_BUILD_EXECUTABLE:BOOL=OFF
-                -DUAGENT_ISOLATED_INSTALL:BOOL=OFF
-            )
-endif()
-
-# Main project.
-ExternalProject_Add(micro_ros_agent
-    SOURCE_DIR
-        ${PROJECT_SOURCE_DIR}
-    BINARY_DIR
-        ${CMAKE_CURRENT_BINARY_DIR}
-    CMAKE_CACHE_ARGS
-        -DMICROROSAGENT_SUPERBUILD:BOOL=OFF
-    INSTALL_COMMAND
-        ""
-    DEPENDS
-        xrceagent
-    )

micro_ros_agent/include/agent/Agent.hpp

@@ -20,21 +20,32 @@
 #include <uxr/agent/middleware/utils/Callbacks.hpp>
 
 #include <agent/graph_manager/graph_manager.hpp>
-
-#include <map>
-#include <memory>
-
 // TODO(jamoralp): class Documentation
 namespace uros {
 namespace agent {
 
 class Agent
 {
-public:
+private:
-
     Agent();
 
-    ~Agent() = default;
+    ~Agent()
+    {
+        stop();
+    }
+    
+    Agent(const Agent &) = delete;
+
+    Agent(Agent &&) = delete;
+
+    Agent& operator =(
+            const Agent &) = delete;
+
+    Agent& operator =(
+            Agent &&) = delete;
+
+public:
+    static Agent& getInstance();
 
     bool create(
             int argc,
@@ -42,12 +53,14 @@ public:
 
     void run();
 
+    void stop();
+
 private:
-
+    bool initialized = false;
     eprosima::uxr::AgentInstance& xrce_dds_agent_instance_;
-    std::map<eprosima::fastdds::dds::DomainId_t, std::shared_ptr<graph_manager::GraphManager>> graph_manager_map_;
+    std::map<eprosima::fastdds::dds::DomainId_t, graph_manager::GraphManager> graph_manager_map_;
 
-    std::shared_ptr<graph_manager::GraphManager> find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id);
+    graph_manager::GraphManager* find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id);
 };
 
 }  // namespace agent

micro_ros_agent/include/agent/graph_manager/graph_manager.hpp

@@ -12,9 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef _UROS_AGENT_GRAPH_MANAGER_HPP
-#define _UROS_AGENT_GRAPH_MANAGER_HPP
-
 #include "fastrtps/Domain.h"
 #include <fastrtps/TopicDataType.h>
 #include "fastrtps/attributes/ParticipantAttributes.h"
@@ -61,10 +58,8 @@
 #include <agent/graph_manager/graph_typesupport.hpp>
 #include <agent/utils/demangle.hpp>
 
-#include <condition_variable>
+#ifndef _UROS_AGENT_GRAPH_MANAGER_HPP
-#include <string>
+#define _UROS_AGENT_GRAPH_MANAGER_HPP
-#include <memory>
-#include <map>
 
 namespace uros {
 namespace agent {
@@ -87,6 +82,28 @@ public:
      */
     ~GraphManager() = default;
 
+	void stop()
+	{
+		if (microros_graph_publisher_.joinable())
+		{
+			exit = true;
+        	cv_.notify_one();
+			microros_graph_publisher_.join();
+		}
+
+        subscriber_->delete_datareader(ros_discovery_datareader_);
+		publisher_->delete_datawriter(ros_to_microros_graph_datawriter_);
+
+		participant_->delete_subscriber(subscriber_);
+		participant_->delete_publisher(publisher_);
+
+		// Delete topics
+		participant_->delete_topic(ros_discovery_topic_);
+		participant_->delete_topic(ros_to_microros_graph_topic_);
+
+		eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->delete_participant(participant_);
+	}
+
     /**
      * @brief   Implementation of the notification logic that updates the micro-ROS graph.
      */
@@ -111,12 +128,6 @@ 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.
@@ -143,21 +154,6 @@ 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 +187,6 @@ 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.
@@ -315,23 +296,24 @@ private:
     std::thread microros_graph_publisher_;
     std::mutex mtx_;
     std::condition_variable cv_;
+    volatile bool exit = false;
 
     eprosima::fastdds::dds::DataWriterQos datawriter_qos_;
 
     rmw_dds_common::GraphCache graphCache_;
-    std::unique_ptr<ParticipantListener> participant_listener_;
-    std::unique_ptr<DatareaderListener> datareader_listener_;
 
-    std::unique_ptr<eprosima::fastdds::dds::TypeSupport> participant_info_typesupport_;
+    ParticipantListener participant_listener_;
-    std::unique_ptr<eprosima::fastdds::dds::TypeSupport> microros_graph_info_typesupport_;
+    DatareaderListener datareader_listener_;
-    std::unique_ptr<eprosima::fastdds::dds::DomainParticipant> participant_;
-    std::unique_ptr<eprosima::fastdds::dds::Publisher> publisher_;
-    std::unique_ptr<eprosima::fastdds::dds::Subscriber> subscriber_;
-    std::unique_ptr<eprosima::fastdds::dds::Topic> ros_discovery_topic_;
-    std::unique_ptr<eprosima::fastdds::dds::Topic> ros_to_microros_graph_topic_;
-    std::unique_ptr<eprosima::fastdds::dds::DataWriter> ros_to_microros_graph_datawriter_;
-    std::unique_ptr<eprosima::fastdds::dds::DataReader> ros_discovery_datareader_;
 
+    eprosima::fastdds::dds::TypeSupport participant_info_typesupport_;
+    eprosima::fastdds::dds::TypeSupport microros_graph_info_typesupport_;
+    eprosima::fastdds::dds::DomainParticipant* participant_;
+    eprosima::fastdds::dds::Publisher* publisher_;
+    eprosima::fastdds::dds::Subscriber* subscriber_;
+    eprosima::fastdds::dds::Topic* ros_discovery_topic_;
+    eprosima::fastdds::dds::Topic* ros_to_microros_graph_topic_;
+    eprosima::fastdds::dds::DataWriter* ros_to_microros_graph_datawriter_;
+    eprosima::fastdds::dds::DataReader* ros_discovery_datareader_;
     // Store a auxiliary publishers and datawriter for each participant created in micro-ROS
     std::map<
         const eprosima::fastdds::dds::DomainParticipant*,

micro_ros_agent/launch/micro_ros_agent_launch.py

@@ -7,6 +7,6 @@ def generate_launch_description():
             package='micro_ros_agent',
             executable='micro_ros_agent',
             name='micro_ros_agent',
-            arguments=["udp4", "-p", "8888", "-v6"]
+            arguments={"udp4", "-p", "8888", "-v6"}
         )
     ])

micro_ros_agent/package.xml

@@ -2,10 +2,9 @@
 <?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>1.5.4</version>
+  <version>0.0.1</version>
-  <description>micro-ROS Agent package</description>
+  <description>DDS-XCRE agent implementation </description>
-  <maintainer email="pablogarrido@eprosima.com">Pablo Garrido</maintainer>
+  <maintainer email="borjaouterelo@eprosima.com">Borja Outerelo</maintainer>
-  <maintainer email="antoniocuadros@eprosima.com">Antonio Cuadros</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
@@ -15,6 +14,7 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
+  <depend>microxrcedds_agent</depend>
   <depend>rmw</depend>
   <depend>rcutils</depend>
   <depend>rmw_fastrtps_shared_cpp</depend>

micro_ros_agent/src/agent/Agent.cpp

@@ -17,9 +17,6 @@
 
 #include <agent/Agent.hpp>
 
-#include <utility>
-#include <memory>
-
 namespace uros {
 namespace agent {
 
@@ -28,13 +25,22 @@ Agent::Agent()
 {
 }
 
+Agent& Agent::getInstance()
+{
+    static Agent instance;
+    return instance;
+}
+
 bool Agent::create(
         int argc,
         char** argv)
 {
     bool result = xrce_dds_agent_instance_.create(argc, argv);
-    if (result)
+
+    if (result && !initialized)
     {
+        initialized = true;
+
         /**
          * Add CREATE_PARTICIPANT callback.
          */
@@ -169,149 +175,6 @@ bool Agent::create(
             eprosima::uxr::Middleware::Kind::FASTDDS,
             eprosima::uxr::middleware::CallbackKind::DELETE_DATAREADER,
             std::move(on_delete_datareader));
-
-        /**
-         * Add CREATE_REQUESTER callback.
-         */
-        std::function<void (
-            const eprosima::fastdds::dds::DomainParticipant *,
-            const eprosima::fastdds::dds::DataWriter *,
-            const eprosima::fastdds::dds::DataReader *)> on_create_requester
-            ([&](
-                const eprosima::fastdds::dds::DomainParticipant* participant,
-                const eprosima::fastdds::dds::DataWriter* datawriter,
-                const eprosima::fastdds::dds::DataReader * datareader) -> void
-            {
-                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_->associate_entity(
-                    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 =
-                    datareader->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle_dr);
-                graph_manager_->add_datareader(datareader_guid, participant, datareader);
-                graph_manager_->associate_entity(
-                    datareader_guid, participant, dds::xrce::OBJK_DATAREADER);
-            });
-        xrce_dds_agent_instance_.add_middleware_callback(
-            eprosima::uxr::Middleware::Kind::FASTDDS,
-            eprosima::uxr::middleware::CallbackKind::CREATE_REQUESTER,
-            std::move(on_create_requester));
-
-        /**
-         * Add DELETE_REQUESTER callback.
-         */
-        std::function<void (
-            const eprosima::fastdds::dds::DomainParticipant *,
-            const eprosima::fastdds::dds::DataWriter *,
-            const eprosima::fastdds::dds::DataReader *)> on_delete_requester
-            ([&](
-                const eprosima::fastdds::dds::DomainParticipant* participant,
-                const eprosima::fastdds::dds::DataWriter* datawriter,
-                const eprosima::fastdds::dds::DataReader * datareader) -> void
-            {
-                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);
-
-                // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle_dr =
-                    datareader->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle_dr);
-                graph_manager_->remove_datareader(datareader_guid);
-            });
-
-        xrce_dds_agent_instance_.add_middleware_callback(
-            eprosima::uxr::Middleware::Kind::FASTDDS,
-            eprosima::uxr::middleware::CallbackKind::DELETE_REQUESTER,
-            std::move(on_delete_requester));
-
-        /**
-         * Add CREATE_REPLIER callback.
-         */
-        std::function<void (
-            const eprosima::fastdds::dds::DomainParticipant *,
-            const eprosima::fastdds::dds::DataWriter *,
-            const eprosima::fastdds::dds::DataReader *)> on_create_replier
-            ([&](
-                const eprosima::fastdds::dds::DomainParticipant* participant,
-                const eprosima::fastdds::dds::DataWriter* datawriter,
-                const eprosima::fastdds::dds::DataReader * datareader) -> void
-            {
-                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_->associate_entity(
-                    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 =
-                    datareader->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle_dr);
-                graph_manager_->add_datareader(datareader_guid, participant, datareader);
-                graph_manager_->associate_entity(
-                    datareader_guid, participant, dds::xrce::OBJK_DATAREADER);
-            });
-        xrce_dds_agent_instance_.add_middleware_callback(
-            eprosima::uxr::Middleware::Kind::FASTDDS,
-            eprosima::uxr::middleware::CallbackKind::CREATE_REPLIER,
-            std::move(on_create_replier));
-
-        /**
-         * Add DELETE_REPLIER callback.
-         */
-        std::function<void (
-            const eprosima::fastdds::dds::DomainParticipant *,
-            const eprosima::fastdds::dds::DataWriter *,
-            const eprosima::fastdds::dds::DataReader *)> on_delete_replier
-            ([&](
-                const eprosima::fastdds::dds::DomainParticipant* participant,
-                const eprosima::fastdds::dds::DataWriter* datawriter,
-                const eprosima::fastdds::dds::DataReader * datareader) -> void
-            {
-                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);
-
-                // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle_dr =
-                    datareader->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle_dr);
-                graph_manager_->remove_datareader(datareader_guid);
-            });
-
-        xrce_dds_agent_instance_.add_middleware_callback(
-            eprosima::uxr::Middleware::Kind::FASTDDS,
-            eprosima::uxr::middleware::CallbackKind::DELETE_REPLIER,
-            std::move(on_delete_replier));
     }
 
     return result;
@@ -319,23 +182,29 @@ bool Agent::create(
 
 void Agent::run()
 {
-    return xrce_dds_agent_instance_.run();
+    xrce_dds_agent_instance_.run();
 }
 
-std::shared_ptr<graph_manager::GraphManager> Agent::find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id)
+void Agent::stop()
 {
+    xrce_dds_agent_instance_.stop();
 
-auto it = graph_manager_map_.find(domain_id);
+    for (auto & element : graph_manager_map_)
+    {
+        element.second.stop();
+    }
+
+    graph_manager_map_.clear();
+}
+
+graph_manager::GraphManager* Agent::find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id)
+{
+    auto it = graph_manager_map_.find(domain_id);
 
     if (it != graph_manager_map_.end()) {
-        return it->second;
+        return &it->second;
     }else{
-        return graph_manager_map_.insert(
+        return &graph_manager_map_.emplace(domain_id, domain_id).first->second;
-            std::make_pair(
-                domain_id,
-                std::make_shared<graph_manager::GraphManager>(domain_id)
-            )
-        ).first->second;
     }
 }
 

micro_ros_agent/src/agent/graph_manager/graph_manager.cpp

@@ -17,11 +17,6 @@
 
 #include <agent/graph_manager/graph_manager.hpp>
 
-#include <memory>
-#include <string>
-#include <utility>
-#include <vector>
-
 namespace uros {
 namespace agent {
 namespace graph_manager {
@@ -33,15 +28,16 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
     , mtx_()
     , cv_()
     , graphCache_()
-    , participant_listener_(std::make_unique<ParticipantListener>(this))
+    , participant_listener_(this)
-    , datareader_listener_(std::make_unique<DatareaderListener>(this))
+    , datareader_listener_(this)
-    , participant_info_typesupport_(std::make_unique<
+    , participant_info_typesupport_()
-        eprosima::fastdds::dds::TypeSupport>(new graph_manager::ParticipantEntitiesInfoTypeSupport()))
+    , microros_graph_info_typesupport_()
-    , microros_graph_info_typesupport_(std::make_unique<
-        eprosima::fastdds::dds::TypeSupport>(new graph_manager::MicrorosGraphInfoTypeSupport()))
 {
     eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->load_profiles();
 
+    participant_info_typesupport_ = (eprosima::fastdds::dds::TypeSupport) new graph_manager::ParticipantEntitiesInfoTypeSupport();
+    microros_graph_info_typesupport_ = (eprosima::fastdds::dds::TypeSupport) new graph_manager::MicrorosGraphInfoTypeSupport();
+
     // Create DomainParticipant
     eprosima::fastdds::dds::DomainParticipantQos participant_qos =
         eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->get_default_participant_qos();
@@ -59,29 +55,30 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
         eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
 
     eprosima::fastdds::dds::StatusMask par_mask = eprosima::fastdds::dds::StatusMask::none();
-    participant_.reset(eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->
+
-        create_participant(domain_id_, participant_qos, participant_listener_.get(), par_mask));
+    participant_ = eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->
+        create_participant(domain_id_, participant_qos, &participant_listener_, par_mask);
 
     // Register participant within typesupport
-    participant_->register_type(*participant_info_typesupport_);
+    participant_->register_type(participant_info_typesupport_);
-    participant_->register_type(*microros_graph_info_typesupport_);
+    participant_->register_type(microros_graph_info_typesupport_);
 
     // Create publisher
-    publisher_.reset(participant_->create_publisher(
+    publisher_ = participant_->create_publisher(
-        eprosima::fastdds::dds::PUBLISHER_QOS_DEFAULT));
+        eprosima::fastdds::dds::PUBLISHER_QOS_DEFAULT);
 
     // Create subscriber
-    subscriber_.reset(participant_->create_subscriber(
+    subscriber_ = participant_->create_subscriber(
-        eprosima::fastdds::dds::SUBSCRIBER_QOS_DEFAULT));
+        eprosima::fastdds::dds::SUBSCRIBER_QOS_DEFAULT);
 
     // Create topics
-    ros_discovery_topic_.reset(participant_->create_topic("ros_discovery_info",
+    ros_discovery_topic_ = participant_->create_topic("ros_discovery_info",
-        participant_info_typesupport_->get_type_name(),
+        participant_info_typesupport_.get_type_name(),
-        eprosima::fastdds::dds::TOPIC_QOS_DEFAULT));
+        eprosima::fastdds::dds::TOPIC_QOS_DEFAULT);
 
-    ros_to_microros_graph_topic_.reset(participant_->create_topic("ros_to_microros_graph",
+    ros_to_microros_graph_topic_ = participant_->create_topic("ros_to_microros_graph",
-        microros_graph_info_typesupport_->get_type_name(),
+        microros_graph_info_typesupport_.get_type_name(),
-        eprosima::fastdds::dds::TOPIC_QOS_DEFAULT));
+        eprosima::fastdds::dds::TOPIC_QOS_DEFAULT);
 
     // Create datawriters
     datawriter_qos_ =
@@ -101,9 +98,10 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
 
     eprosima::fastdds::dds::DataWriterQos ros_to_microros_datawriter_qos_ = datawriter_qos_;
     ros_to_microros_datawriter_qos_.history().kind =
-        eprosima::fastdds::dds::HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
+        eprosima::fastdds::dds::HistoryQosPolicyKind::KEEP_ALL_HISTORY_QOS;
-    ros_to_microros_graph_datawriter_.reset(
+
-        publisher_->create_datawriter(ros_to_microros_graph_topic_.get(), ros_to_microros_datawriter_qos_));
+    ros_to_microros_graph_datawriter_ = 
+        publisher_->create_datawriter(ros_to_microros_graph_topic_, ros_to_microros_datawriter_qos_);
 
     // Create datareaders
 
@@ -119,17 +117,15 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
     datareader_qos.durability().kind =
         eprosima::fastdds::dds::DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;
 
-    ros_discovery_datareader_.reset(
+    ros_discovery_datareader_ = 
-        subscriber_->create_datareader(ros_discovery_topic_.get(),
+        subscriber_->create_datareader(ros_discovery_topic_,
-            datareader_qos, datareader_listener_.get()));
+            datareader_qos, &datareader_listener_);
 
     // Set graph cache on change callback function
     graphCache_.set_on_change_callback([this]()
     {
-        {
+        std::unique_lock<std::mutex> lock(this->mtx_);
-            std::unique_lock<std::mutex> lock(this->mtx_);
+        this->graph_changed_ = true;
-            this->graph_changed_ = true;
-        }
         this->cv_.notify_one();
     });
 
@@ -144,9 +140,13 @@ inline void GraphManager::publish_microros_graph()
             std::unique_lock<std::mutex> lock(mtx_);
             cv_.wait(lock, [this]()
             {
-                return this->graph_changed_;
+                return this->graph_changed_ || exit;
             });
-            graph_changed_ = false;
+        }
+
+        if (exit)
+        {
+            break;
         }
 
         if (display_on_change_)
@@ -154,6 +154,7 @@ 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;
 
@@ -322,10 +323,11 @@ void GraphManager::add_participant(
         if (it == micro_ros_graph_datawriters_.end())
         {
             // Create datawriter
-            eprosima::fastdds::dds::DataWriter * datawriter = publisher_->create_datawriter(ros_discovery_topic_.get(), datawriter_qos_);
+            eprosima::fastdds::dds::DataWriter* datawriter;
+            datawriter = publisher_->create_datawriter(ros_discovery_topic_, datawriter_qos_);
 
             it = micro_ros_graph_datawriters_.insert(
-                std::make_pair(participant, datawriter)).first;
+                std::make_pair(participant, std::move(datawriter))).first;
         }
 
         it->second->write(static_cast<void *>(&info));
@@ -345,6 +347,7 @@ 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);
     }
@@ -378,24 +381,6 @@ 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)
 {
@@ -433,24 +418,6 @@ 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)
 {
@@ -583,7 +550,7 @@ 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);
         }
@@ -635,7 +602,7 @@ 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)
@@ -652,15 +619,13 @@ void GraphManager::ParticipantListener::on_participant_discovery(
             const std::string enclave =
                 std::string(name_found->second.begin(), name_found->second.end());
 
-            const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", info.info.m_guid);
+            graphManager_from_->add_participant(participant, false, enclave);
-            graphManager_from_->get_graph_cache().add_participant(gid, enclave);
             break;
         }
         case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT:
         case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DROPPED_PARTICIPANT:
         {
-            const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", info.info.m_guid);
+            graphManager_from_->remove_participant(participant, false);
-            graphManager_from_->get_graph_cache().remove_participant(gid);
             break;
         }
         default:
@@ -670,6 +635,52 @@ 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)
@@ -686,7 +697,7 @@ 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:
@@ -713,7 +724,7 @@ 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:
@@ -755,4 +766,4 @@ 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

@@ -17,8 +17,6 @@
 
 #include <agent/graph_manager/graph_typesupport.hpp>
 
-#include <string>
-
 namespace uros {
 namespace agent {
 namespace graph_manager {

micro_ros_agent/src/main.cpp

@@ -14,12 +14,9 @@
 
 #include <agent/Agent.hpp>
 
-#include <string>
-#include <vector>
-
 int main(int argc, char** argv)
 {
-    uros::agent::Agent micro_ros_agent;
+    uros::agent::Agent& micro_ros_agent = micro_ros_agent.getInstance();
 
     /** Bypass '--ros-args' flag, as we use our own CLI parser.
       * As a workaround for launch files, arguments will be passed from

snap/hooks/configure

@@ -101,4 +101,4 @@ case "$daemon" in
 		echo "'$daemon' is not a valid boolean for daemon" >&2
 		return 1
 		;;
-esac
+esac

snap/local/fastdds_no_shared_memory.xml

@@ -1,19 +0,0 @@
-<?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 "$SNAP/opt/ros/snap/lib/micro_ros_agent/micro_ros_agent" "$transport" "$@"
+exec "$SNAP/lib/micro_ros_agent/micro_ros_agent" "$transport" "$@"

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.
 
@@ -69,6 +71,16 @@ 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:
 
@@ -109,20 +121,21 @@ architectures:
   - build-on: ppc64el
 
 parts:
+
   uros-agent:
     plugin: colcon
     source: .
-    colcon-cmake-args:
+    override-build: |
-      - -DMICROROSAGENT_SUPERBUILD=ON
+        set +u
-      - --cmake-force-configure
+        git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git -b $ROS_DISTRO
-    override-pull: |
+        git clone https://github.com/eProsima/Micro-CDR.git -b $ROS_DISTRO
-        snapcraftctl pull
+        git clone https://github.com/micro-ROS/micro_ros_msgs.git -b $ROS_DISTRO
-
+        git clone https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git -b $ROS_DISTRO
-        version="$(git describe --always --tags| sed -e 's/^v//;s/-/+git/;y/-/./')"
+        git clone https://github.com/micro-ROS/rmw-microxrcedds.git -b $ROS_DISTRO
-        [ -n "$(echo $version | grep "+git")" ] && grade=devel || grade=stable
+        git clone https://github.com/micro-ROS/micro-ROS-Agent.git -b $ROS_DISTRO
-        snapcraftctl set-version "$version"
+        . /opt/ros/$ROS_DISTRO/setup.sh
-        snapcraftctl set-grade "$grade"
+        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
-
+        set -u
     build-packages: [make, gcc, g++]
     stage-packages: [ros-foxy-ros2launch]
 
@@ -130,22 +143,26 @@ parts:
     plugin: dump
     source: snap/local/
     organize:
-      'micro-ros-agent-daemon': usr/bin/
+      '*': 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: opt/ros/snap/lib/micro_ros_agent/micro_ros_agent
+    command: lib/micro_ros_agent/micro_ros_agent
     environment:
-        FASTRTPS_DEFAULT_PROFILES_FILE: ${SNAP}/usr/share/fastdds_no_shared_memory.xml
+        LD_LIBRARY_PATH: "$LD_LIBRARY_PATH:$SNAP/lib"
-    plugs: [network, network-bind, serial-port]
+    plugs: [network, network-bind, serial-port, micro-ros-agent-shm-netplug]
     extensions: [ros2-foxy]
 
   daemon:
     command: usr/bin/micro-ros-agent-daemon
     environment:
-        FASTRTPS_DEFAULT_PROFILES_FILE: ${SNAP}/usr/share/fastdds_no_shared_memory.xml
+        LD_LIBRARY_PATH: "$LD_LIBRARY_PATH:$SNAP/lib"
     daemon: simple
-    plugs: [network, network-bind, serial-port]
+    plugs: [network, network-bind, serial-port, micro-ros-agent-shm-netplug]
-    extensions: [ros2-foxy]
-