Initial PoC

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

.github/workflows/ci.yml

@@ -3,24 +3,24 @@ name: CI micro-ROS Agent
 on:
     pull_request:
       branches:
-        - 'galactic'
+        - '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: [ galactic ]
+          ros_distribution: [ humble ]
           include:
-            - docker_image: ubuntu:20.04
-              ros_distribution: galactic
+            - docker_image: ubuntu:jammy
+              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 }}
-

micro_ros_agent/CHANGELOG.rst

@@ -2,20 +2,22 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.0.2 (2022-05-25)
+3.0.2 (2022-05-25)
 ------------------
 
-2.0.1 (2022-03-25)
+3.0.1 (2022-03-25)
 ------------------
-* 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]
+* 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>`_)
 
-2.0.0 (2021-09-13)
+3.0.0 (2021-09-13)
+------------------
+
+1.0.1 (2021-09-13)
 ------------------
 * Remove XRCE dependency and add superbuild (`#97 <https://github.com/micro-ROS/micro-ROS-Agent/issues/97>`_)
 * Fixed launch file by using a list for arguments. Ensures order of items is kept. (`#93 <https://github.com/micro-ROS/micro-ROS-Agent/issues/93>`_) (`#94 <https://github.com/micro-ROS/micro-ROS-Agent/issues/94>`_)

micro_ros_agent/include/agent/Agent.hpp

@@ -46,6 +46,7 @@ private:
 
     eprosima::uxr::AgentInstance& xrce_dds_agent_instance_;
     std::map<eprosima::fastdds::dds::DomainId_t, std::shared_ptr<graph_manager::GraphManager>> graph_manager_map_;
+    std::string namespace_remapping = "";
 
     std::shared_ptr<graph_manager::GraphManager> find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id);
 };

micro_ros_agent/include/agent/graph_manager/graph_manager.hpp

@@ -80,7 +80,7 @@ public:
     /**
      * @brief   Default constructor.
      */
-    GraphManager(eprosima::fastdds::dds::DomainId_t domain_id);
+    GraphManager(eprosima::fastdds::dds::DomainId_t domain_id, std::string namespace_remapping);
 
     /**
      * @brief   Default destructor.
@@ -274,6 +274,7 @@ private:
             std::string& node_namespace);
 
     eprosima::fastdds::dds::DomainId_t domain_id_;
+    std::string namespace_remapping_;
     bool graph_changed_;
     bool display_on_change_;
     std::thread microros_graph_publisher_;

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>3.0.2</version>
   <description>micro-ROS Agent package</description>
   <maintainer email="pablogarrido@eprosima.com">Pablo Garrido</maintainer>
   <maintainer email="antoniocuadros@eprosima.com">Antonio Cuadros</maintainer>

micro_ros_agent/src/agent/Agent.cpp

@@ -33,6 +33,17 @@ bool Agent::create(
         char** argv)
 {
     bool result = xrce_dds_agent_instance_.create(argc, argv);
+
+    // Find namespace remapping
+    for (int i = 0; i < argc; i++)
+    {
+        if (strcmp(argv[i], "--namespace-remapping") == 0 && i + 1 < argc)
+        {
+            namespace_remapping = argv[i + 1];
+            std::cout << "Remapping all entities to namespace " << namespace_remapping << std::endl;
+        }
+    }
+
     if (result)
     {
         /**
@@ -293,8 +304,7 @@ void Agent::run()
 
 std::shared_ptr<graph_manager::GraphManager> Agent::find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id)
 {
-
-auto it = graph_manager_map_.find(domain_id);
+    auto it = graph_manager_map_.find(domain_id);
 
     if (it != graph_manager_map_.end()) {
         return it->second;
@@ -302,7 +312,7 @@ auto it = graph_manager_map_.find(domain_id);
         return graph_manager_map_.insert(
             std::make_pair(
                 domain_id,
-                std::make_shared<graph_manager::GraphManager>(domain_id)
+                std::make_shared<graph_manager::GraphManager>(domain_id, namespace_remapping)
             )
         ).first->second;
     }

micro_ros_agent/src/agent/graph_manager/graph_manager.cpp

@@ -26,8 +26,9 @@ namespace uros {
 namespace agent {
 namespace graph_manager {
 
-GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
+GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id, std::string namespace_remapping)
     : domain_id_(domain_id)
+    , namespace_remapping_(namespace_remapping)
     , graph_changed_(false)
     , display_on_change_(false)
     , mtx_()
@@ -313,6 +314,8 @@ void GraphManager::add_participant(
         std::string isolated_node_name, isolated_namespace;
         get_name_and_namespace(qos.name().to_string(), isolated_node_name, isolated_namespace);
 
+        isolated_namespace = namespace_remapping_ + isolated_namespace;
+
         rmw_dds_common::msg::ParticipantEntitiesInfo info =
             graphCache_.add_node(gid, isolated_node_name, isolated_namespace);
 
@@ -355,7 +358,10 @@ void GraphManager::add_datawriter(
 {
     const std::string& topic_name = datawriter->get_topic()->get_name();
     const std::string& type_name = datawriter->get_topic()->get_type_name();
-    this->add_datawriter(datawriter_guid, topic_name, type_name,
+
+    auto remapped_topic_name = namespace_remapping_ + "/" + topic_name;
+
+    this->add_datawriter(datawriter_guid, remapped_topic_name, type_name,
         participant->guid(), datawriter->get_qos());
 }
 
@@ -372,7 +378,9 @@ void GraphManager::add_datawriter(
         "rmw_fastrtps_cpp", participant_guid);
     const rmw_qos_profile_t qos_profile = fastdds_qos_to_rmw_qos(writer_qos);
 
-    graphCache_.add_entity(datawriter_gid, topic_name,
+     auto remapped_topic_name = namespace_remapping_ + "/" + topic_name;
+
+    graphCache_.add_entity(datawriter_gid, remapped_topic_name,
         type_name, participant_gid, qos_profile, false);
 }
 
@@ -441,6 +449,7 @@ void GraphManager::associate_entity(
         {
             std::string isolated_node_name, isolated_namespace;
             get_name_and_namespace(qos.name().c_str(), isolated_node_name, isolated_namespace);
+            isolated_namespace = namespace_remapping_ + isolated_namespace;
             info = graphCache_.associate_writer(
                 entity_gid, participant_gid, isolated_node_name, isolated_namespace);
             break;
@@ -449,6 +458,7 @@ void GraphManager::associate_entity(
         {
             std::string isolated_node_name, isolated_namespace;
             get_name_and_namespace(qos.name().c_str(), isolated_node_name, isolated_namespace);
+            isolated_namespace = namespace_remapping_ + isolated_namespace;
             info = graphCache_.associate_reader(
                 entity_gid, participant_gid, isolated_node_name, isolated_namespace);
             break;

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);
 }