1.5.1

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

.github/workflows/ci.yml

@@ -3,36 +3,36 @@ name: CI micro-ROS Agent
 on:
     pull_request:
       branches:
-        - 'galactic'
+        - '**'
-    schedule:
-      - cron: '33 6 * * *'
 
 jobs:
 
     microros_agent_ci:
-      runs-on: ubuntu-20.04
+        runs-on: ubuntu-20.04
-      strategy:
+        container: microros/base:foxy
-        fail-fast: false
-        matrix:
-          os: [ ubuntu-20.04 ]
-          ros_distribution: [ galactic ]
-          include:
-            - docker_image: ubuntu:20.04
-              ros_distribution: galactic
-      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/$ROS_DISTRO/setup.sh
+            . install/local_setup.sh
+            rosdep update --rosdistro=$ROS_DISTRO
+            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

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.
-* 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

@@ -2,20 +2,16 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.0.2 (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>`_)
 
-2.0.1 (2022-03-25)
+1.5.0 (2021-09-13)
-------------------
-* Add services to graph manager (`#127 <https://github.com/micro-ROS/micro-ROS-Agent/issues/127>`_)
-* Add used missing includes (`#116 <https://github.com/micro-ROS/micro-ROS-Agent/issues/116>`_) (`#125 <https://github.com/micro-ROS/micro-ROS-Agent/issues/125>`_)
-* Add system logger flag (`#118 <https://github.com/micro-ROS/micro-ROS-Agent/issues/118>`_)
-* Add condition variable include (`#113 <https://github.com/micro-ROS/micro-ROS-Agent/issues/113>`_)
-* pass system name to xrceagent (`#110 <https://github.com/micro-ROS/micro-ROS-Agent/issues/110>`_)
-* Fix memory leak in FastDDS datawriter (`#107 <https://github.com/micro-ROS/micro-ROS-Agent/issues/107>`_)
-* Contributors: Antonio Cuadros, Pablo Garrido, Roland Schwan, mergify[bot]
-
-2.0.0 (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>`_)

micro_ros_agent/include/agent/graph_manager/graph_manager.hpp

@@ -137,6 +137,21 @@ 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.
@@ -170,6 +185,21 @@ 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.

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>2.0.2</version>
+  <version>1.5.1</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

@@ -79,9 +79,14 @@ bool Agent::create(
             {
                 auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
 
-                graph_manager_->add_datawriter(datawriter->guid(), participant, datawriter);
+                // 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_->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,
@@ -101,7 +106,12 @@ bool Agent::create(
 
                 auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
 
-                graph_manager_->remove_datawriter(datawriter->guid());
+                // 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);
             });
 
         xrce_dds_agent_instance_.add_middleware_callback(
@@ -174,15 +184,21 @@ bool Agent::create(
             {
                 auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
 
-                graph_manager_->add_datawriter(datawriter->guid(), participant, datawriter);
+                // 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);
+                    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 =
+                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);
+                    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);
@@ -206,13 +222,18 @@ bool Agent::create(
             {
                 auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
 
-                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_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 =
+                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);
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle_dr);
                 graph_manager_->remove_datareader(datareader_guid);
             });
 
@@ -235,15 +256,20 @@ bool Agent::create(
             {
                 auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
 
-                graph_manager_->add_datawriter(datawriter->guid(), participant, datawriter);
+                // 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);
+                    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 =
+                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);
+                    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);
@@ -267,13 +293,18 @@ bool Agent::create(
             {
                 auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
 
-                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_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 =
+                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);
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle_dr);
                 graph_manager_->remove_datareader(datareader_guid);
             });
 

micro_ros_agent/src/agent/graph_manager/graph_manager.cpp

@@ -376,6 +376,24 @@ 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)
 {
@@ -413,6 +431,24 @@ 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)
 {
@@ -545,7 +581,7 @@ 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_INSTANCE_STATE)
+        if (sample_info.instance_state == eprosima::fastdds::dds::InstanceStateKind::ALIVE)
         {
             graphCache_.update_participant_entities(entities_info);
         }
@@ -630,52 +666,6 @@ 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)
@@ -692,7 +682,7 @@ 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_qos_conversion(reader_info.info.m_qos));
+                iHandle2GUID(reader_info.info.RTPSParticipantKey()), reader_info.info.m_qos);
             break;
         }
         default:
@@ -719,7 +709,7 @@ 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_qos_conversion(writer_info.info.m_qos));
+                iHandle2GUID(writer_info.info.RTPSParticipantKey()), writer_info.info.m_qos);
             break;
         }
         default:
@@ -761,4 +751,4 @@ void GraphManager::DatareaderListener::on_data_available(
 }  // namespace agent
 }  // namespace uros
 
-#endif  // _UROS_AGENT_GRAPH_MANAGER_CPP
+#endif  // _UROS_AGENT_GRAPH_MANAGER_CPP