3.0.0

Update package info


Update


Fix xrceagent paths

Update


Revert "Bump version"

This reverts commit 7b6b713041405a21d701952ef1eb2e8faab2802e.

Initial

.github/workflows/ci.yml

@@ -2,37 +2,37 @@ name: CI micro-ROS Agent
 
 on:
     pull_request:
-      branches:
-        - 'galactic'
-    schedule:
-      - cron: '33 6 * * *'
+      branches: 
+        - '**'
 
 jobs:
 
     microros_agent_ci:
-      runs-on: ubuntu-20.04
-      strategy:
-        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 }}
+        runs-on: ubuntu-20.04
+        container: microros/base:rolling
 
+        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 

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

@@ -2,24 +2,10 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.0.3 (2022-06-13)
-------------------
-* Fix memory leak in graph manager (`#147 <https://github.com/micro-ROS/micro-ROS-Agent/issues/147>`_) (`#150 <https://github.com/micro-ROS/micro-ROS-Agent/issues/150>`_)
-
-2.0.2 (2022-05-25)
+3.0.0 (2021-09-13)
 ------------------
 
-2.0.1 (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]
-
-2.0.0 (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/CMakeLists.txt

@@ -20,7 +20,6 @@ option(UROSAGENT_GENERATE_PROFILE
 set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)
 
 option(MICROROSAGENT_SUPERBUILD "Enable superbuild compilation." ON)
-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)

micro_ros_agent/cmake/SuperBuild.cmake

@@ -42,10 +42,8 @@ if(NOT xrceagent_FOUND)
                 -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

micro_ros_agent/include/agent/Agent.hpp

@@ -20,10 +20,6 @@
 #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 {

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>
-#include <string>
-#include <memory>
-#include <map>
+#ifndef _UROS_AGENT_GRAPH_MANAGER_HPP
+#define _UROS_AGENT_GRAPH_MANAGER_HPP
 
 namespace uros {
 namespace agent {
@@ -111,12 +106,6 @@ 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.

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>2.0.3</version>
+  <version>3.0.0</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

@@ -17,9 +17,6 @@
 
 #include <agent/Agent.hpp>
 
-#include <utility>
-#include <memory>
-
 namespace uros {
 namespace agent {
 
@@ -79,9 +76,14 @@ 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 +103,12 @@ 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(
@@ -159,128 +166,6 @@ 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());
-
-                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 =
-                    datareader->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    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);
-            });
-        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());
-
-                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 =
-                    datareader->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
-                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());
-
-                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 =
-                    datareader->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    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);
-            });
-        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());
-
-                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 =
-                    datareader->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
-                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;

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 {
@@ -101,7 +96,7 @@ 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_));
 
@@ -597,7 +592,7 @@ 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)
@@ -614,15 +609,13 @@ 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_->get_graph_cache().add_participant(gid, enclave);
+            graphManager_from_->add_participant(participant, false, 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_->get_graph_cache().remove_participant(gid);
+            graphManager_from_->remove_participant(participant, false);
             break;
         }
         default:

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 {
@@ -43,7 +41,7 @@ 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 +133,7 @@ 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);
 }
 

micro_ros_agent/src/main.cpp

@@ -14,9 +14,6 @@
 
 #include <agent/Agent.hpp>
 
-#include <string>
-#include <vector>
-
 int main(int argc, char** argv)
 {
     uros::agent::Agent micro_ros_agent;