Removed termios and pseudoterminal on VxWorks

.github/ISSUE_TEMPLATE/bug_report.md

@@ -1,30 +0,0 @@
----
-name: Bug report
-about: Create a report to help us improve
-title: ''
-labels: ''
-assignees: ''
-
----
-
-**Describe the bug**
-A clear and concise description of what the bug is.
-
-**To Reproduce**
-Steps to reproduce the behaviour:
-1. Clone repo '...'
-2. Add these lines '...'
-3. Run the script '....'
-4. See error
-Code or shell commands ready to be copy-pasted are welcome.
-
-**Expected behaviour**
-A clear and concise description of what you expected to happen.
-
-**System information (please complete the following information):**
- - OS: [e.g. WIndows 10, Ubuntu 16.04, ...]
- - ROS 2 [e.g. Dashing, Foxy, ...]
- - Version [e.g. commit hash, tag, ...]
-
-**Additional context**
-Add any other context about the problem here.

.github/ISSUE_TEMPLATE/general-issue.md

@@ -1,24 +0,0 @@
----
-name: General issue
-about: General issue template for micro-ROS
-title: ''
-labels: ''
-assignees: ''
-
----
-
-## Issue template
-
-- Hardware description: <!-- hardware where you are using micro-ROS -->
-- RTOS: <!-- RTOS where you are using micro-ROS -->
-- Installation type: <!-- micro_ros_setup, modules, etc  -->
-- Version or commit hash: <!-- version of micro-ROS used: foxy, rolling  -->
-
-#### Steps to reproduce the issue
-<!-- Detailed instructions on how to reliably reproduce this issue http://sscce.org/-->
-
-#### Expected behavior
-
-#### Actual behavior
-
-#### Additional information

.github/workflows/ci.yml

@@ -1,38 +0,0 @@
-name: CI micro-ROS Agent
-
-on:
-    pull_request:
-      branches:
-        - 'galactic'
-    schedule:
-      - cron: '33 6 * * *'
-
-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 }}
-

3rd-party-licenses.txt

@@ -1,4 +0,0 @@
-Third Party Licenses
-====================
-
-This repository does not directly contain 3rd party source code. 

CONTRIBUTING.md

@@ -1,107 +0,0 @@
-# Contributing
-
-Want to contribute? Great! You can do so through the standard GitHub pull
-request model. For large contributions we do encourage you to file a ticket in
-the GitHub issues tracking system prior to any code development to coordinate
-with the system_modes development team early in the process. Coordinating up
-front helps to avoid frustration later on.
-
-Your contribution must be licensed under the Apache-2.0 license, the license
-used by this project.
-
-## Add / retain copyright notices
-
-Include a copyright notice and license in each new file to be contributed,
-consistent with the style used by this project. If your contribution contains
-code under the copyright of a third party, document its origin, license, and
-copyright holders.
-
-## Sign your work
-
-This project tracks patch provenance and licensing using a modified Developer
-Certificate of Origin (DCO; from [OSDL][DCO]) and Signed-off-by tags initially
-developed by the Linux kernel project.
-
-```
-system_modes Developer's Certificate of Origin.  Version 1.0
-
-By making a contribution to this project, I certify that:
-
-(a) The contribution was created in whole or in part by me and I
-    have the right to submit it under the "Apache License, Version 2.0"
-    ("Apache-2.0"); or
-
-(b) The contribution is based upon previous work that is covered by
-    an appropriate open source license and I have the right under
-    that license to submit that work with modifications, whether
-    created in whole or in part by me, under the Apache-2.0 license;
-    or
-
-(c) The contribution was provided directly to me by some other
-    person who certified (a) or (b) and I have not modified it.
-
-(d) I understand and agree that this project and the contribution
-    are public and that a record of the contribution (including all
-    metadata and personal information I submit with it, including my
-    sign-off) is maintained indefinitely and may be redistributed
-    consistent with this project and the requirements of the Apache-2.0
-    license or any open source license(s) involved, where they are
-    relevant.
-
-(e) I am granting the contribution to this project under the terms of
-    Apache-2.0.
-
-    http://www.apache.org/licenses/LICENSE-2.0
-```
-
-With the sign-off in a commit message you certify that you authored the patch
-or otherwise have the right to submit it under an open source license. The
-procedure is simple: To certify above system_modes Developer's Certificate of
-Origin 1.0 for your contribution just append a line
-
-    Signed-off-by: Random J Developer <random@developer.example.org>
-
-to every commit message using your real name or your pseudonym and a valid
-email address.
-
-If you have set your `user.name` and `user.email` git configs you can
-automatically sign the commit by running the git-commit command with the `-s`
-option.  There may be multiple sign-offs if more than one developer was
-involved in authoring the contribution.
-
-For a more detailed description of this procedure, please see
-[SubmittingPatches][] which was extracted from the Linux kernel project, and
-which is stored in an external repository.
-
-### Individual vs. Corporate Contributors
-
-Often employers or academic institution have ownership over code that is
-written in certain circumstances, so please do due diligence to ensure that
-you have the right to submit the code.
-
-If you are a developer who is authorized to contribute to system_modes on
-behalf of your employer, then please use your corporate email address in the
-Signed-off-by tag. Otherwise please use a personal email address.
-
-## Maintain Copyright holder / Contributor list
-
-Each contributor is responsible for identifying themselves in the
-[NOTICE](NOTICE) file, the project's list of copyright holders and authors.
-Please add the respective information corresponding to the Signed-off-by tag
-as part of your first pull request.
-
-If you are a developer who is authorized to contribute to system_modes on
-behalf of your employer, then add your company / organization to the list of
-copyright holders in the [NOTICE](NOTICE) file. As author of a corporate
-contribution you can also add your name and corporate email address as in the
-Signed-off-by tag.
-
-If your contribution is covered by this project's DCO's clause "(c) The
-contribution was provided directly to me by some other person who certified
-(a) or (b) and I have not modified it", please add the appropriate copyright
-holder(s) to the [NOTICE](NOTICE) file as part of your contribution.
-
-
-[DCO]: http://web.archive.org/web/20070306195036/http://osdlab.org/newsroom/press_releases/2004/2004_05_24_dco.html
-
-[SubmittingPatches]: https://github.com/wking/signed-off-by/blob/7d71be37194df05c349157a2161c7534feaf86a4/Documentation/SubmittingPatches

NOTICE

@@ -1,27 +0,0 @@
- 
-# This is the official list of copyright holders and authors.
-#
-# Often employers or academic institutions have ownership over code that is
-# written in certain circumstances, so please do due diligence to ensure that
-# you have the right to submit the code.
-#
-# When adding J Random Contributor's name to this file, either J's name on its
-# own or J's name associated with J's organization's name should be added,
-# depending on whether J's employer (or academic institution) has ownership
-# over code that is written for this project.
-#
-# How to add names to this file:
-#     Individual's name <submission email address>.
-#
-# If Individual's organization is copyright holder of her contributions add the
-# organization's name, optionally also the contributor's name:
-#
-#     Organization's name
-#         Individual's name <submission corporate email address>
-#
-# Please keep the list sorted.
-
-eProsima
-    Jose Antonio Moral <joseantoniomoralparras@eprosima.com>
-    Pablo Garrido <pablogarrido@eprosima.com>
-

README.md

@@ -1,58 +1,7 @@
-# micro-ROS Agent
+# micro-ROS-Agent
 
 [![GitHub license](https://img.shields.io/github/license/microROS/micro-ROS-Agent.svg)](https://github.com/microROS/micro-ROS-Agent)
 [![GitHub release](https://img.shields.io/github/release/microROS/micro-ROS-Agent.svg)](https://github.com/microROS/micro-ROS-Agent/releases)
 
 ROS 2 package using Micro XRCE-DDS Agent.
 
-## Overview
-
-This repository contains the Micro-ROS Agent package.
-Micro-ROS Agent is a ROS 2 node that wraps the Micro XRCE-DDS Agent.
-For further information about Micro XRCE-DDS Agent click [here](https://github.com/eProsima/Micro-XRCE-DDS-Agent)
-This package is a part of the Micro-ROS project stack.
-For more information about Micro-ROS project click [here](https://micro-ros.github.io/).
-
-The node acts as a server between DDS Network and Micro-ROS nodes inside MCU.
-It receives and send messages from Micro-ROS nodes, and keep track of the Micro-ROS nodes exposing them to the ROS 2 network.
-The node interacts with DDS Global Data Space on behalf of the Micro-ROS nodes.
-
-## Package features
-
-### XML generation
-
-During the build process, the package looks for all ROS 2 messages to generate an initial list of XML profiles.
-These profiles can are referenced in the Agent-Client communication to avoid sending the full XML content.
-This reference mechanism can be switched on and off from the Micro XRCE-DDS middleware layer.
-
-### Agent-Client communication mechanism
-
-Communication between the Micro-ROS Agent and the Micro-ROS nodes supports two types of transport:
-
-- UDP and TCP over IPv4 and IPv6.
-- Serial Port transports.
-
-All available configurations are supported directly by the Micro XRCE-DDS agent.
-
-## Purpose of the Project
-
-This software is not ready for production use. It has neither been developed nor
-tested for a specific use case. However, the license conditions of the
-applicable Open Source licenses allow you to adapt the software to your needs.
-Before using it in a safety relevant setting, make sure that the software
-fulfills your requirements and adjust it according to any applicable safety
-standards, e.g., ISO 26262.
-
-## License
-
-This repository is open-sourced under the Apache-2.0 license. See the [LICENSE](LICENSE) file for details.
-
-For a list of other open-source components included in this repository,
-see the file [3rd-party-licenses.txt](3rd-party-licenses.txt).
-
-## Known Issues/Limitations
-
-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

@@ -2,39 +2,6 @@
 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)
-------------------
-
-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)
-------------------
-* 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

@@ -19,87 +19,23 @@ option(UROSAGENT_GENERATE_PROFILE
   )
 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)
-find_package(rosidl_cmake REQUIRED)
-find_package(fastcdr REQUIRED)
-find_package(fastrtps REQUIRED)
-find_package(fastrtps_cmake_module REQUIRED)
-find_package(rmw_dds_common REQUIRED)
-find_package(rmw REQUIRED)
-find_package(rcutils REQUIRED)
-find_package(rmw_fastrtps_shared_cpp REQUIRED)
 
-find_package(ament_lint_auto REQUIRED)
+add_executable(${PROJECT_NAME} src/main.cpp)
-
-find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
-find_package(rosidl_runtime_cpp REQUIRED)
-find_package(rosidl_typesupport_cpp REQUIRED)
-find_package(ament_cmake_gtest REQUIRED)
-
-find_package(micro_ros_msgs REQUIRED)
-
-add_executable(${PROJECT_NAME}
-  src/main.cpp
-  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(${PROJECT_NAME}
-  PRIVATE
-    include
-  )
-
-ament_target_dependencies(${PROJECT_NAME}
-  rosidl_typesupport_fastrtps_cpp
-  rosidl_runtime_cpp
-  rosidl_typesupport_cpp
-  fastcdr
-  fastrtps
-  rmw_dds_common
-  rmw
-  rmw_fastrtps_shared_cpp
-  micro_ros_msgs
-  )
 
 target_link_libraries(${PROJECT_NAME}
-  microxrcedds_agent
-  fastcdr
-  fastrtps
-  $<$<BOOL:$<PLATFORM_ID:Linux>>:rt>
-  $<$<BOOL:$<PLATFORM_ID:Linux>>:dl>
-  )
-
-target_compile_options(${PROJECT_NAME}
   PRIVATE
-    $<$<C_COMPILER_ID:GNU>:-Wall>
+    microxrcedds_agent
-    $<$<C_COMPILER_ID:GNU>:-Wextra>
+    $<$<BOOL:$<PLATFORM_ID:Linux>>:rt>
-    $<$<C_COMPILER_ID:GNU>:-pedantic>
+    $<$<BOOL:$<PLATFORM_ID:Linux>>:dl>
   )
 
 set_target_properties(${PROJECT_NAME} PROPERTIES
   CXX_STANDARD
-    14
+    11
-  CXX_STANDARD_REQUIRED
-    YES
-  )
-
-set_target_properties(${PROJECT_NAME} PROPERTIES
-  CXX_STANDARD
-    14
   CXX_STANDARD_REQUIRED
     YES
   )
@@ -122,13 +58,6 @@ install(
     lib/${PROJECT_NAME}
   )
 
-install(
-  DIRECTORY
-    launch
-  DESTINATION
-    share/${PROJECT_NAME}
-  )
-
 if(UROSAGENT_GENERATE_PROFILE)
   set(_OUTPUT_PATH "${CMAKE_CURRENT_BINARY_DIR}/python")
 
@@ -138,7 +67,7 @@ if(UROSAGENT_GENERATE_PROFILE)
   set(_XML_DEFAULT_READ_BIN "${_OUTPUT_PATH}/bin/Xml_read_default_profiles.py")
   normalize_path(_XML_DEFAULT_READ_BIN "${_XML_DEFAULT_READ_BIN}")
 
-  set(_PYTHON_PKG_TOOL utils)
+  set(_PYTHON_PKG_TOOL ${PROJECT_NAME})
 
   set(_RESOURCE_DIR "${_OUTPUT_PATH}/resource")
   normalize_path(_RESOURCE_DIR "${_RESOURCE_DIR}")
@@ -150,11 +79,12 @@ if(UROSAGENT_GENERATE_PROFILE)
   get_filename_component(_COLCON_CALL_DIR "${_COLCON_CALL_DIR}" DIRECTORY)
 
   set(_PYTHON_SCRIPT_HEAD
-"import os
+    "
-import sys
+    import os\n
-sys.path.append('${_OUTPUT_PATH}')
+    import sys\n
-from ${_PYTHON_PKG_TOOL} import *
+    sys.path.append('${_OUTPUT_PATH}')\n
-"
+    from ${_PYTHON_PKG_TOOL} import *\n
+    "
     )
 
   file(
@@ -214,7 +144,7 @@ from ${_PYTHON_PKG_TOOL} import *
   endforeach()
 
   execute_process(
-    COMMAND
+    COMMAND 
       "${PYTHON_EXECUTABLE}" "${_XML_DEFAULT_READ_BIN}" "--default-xml-path" "${_RESOURCE_DIR}"
     OUTPUT_VARIABLE
       _XmlDoc
@@ -223,7 +153,7 @@ from ${_PYTHON_PKG_TOOL} import *
     )
 
   if(NOT _result EQUAL 0)
-    message(FATAL_ERROR "Error in typesupport generation")
+    message(FATAL_ERROR "Error in typesuppor generation") 
   endif()
 
   foreach(package ${_packages})
@@ -257,7 +187,7 @@ from ${_PYTHON_PKG_TOOL} import *
       )
 
     if(NOT _result EQUAL 0)
-      message(FATAL_ERROR "Error in typesupport generation")
+      message(FATAL_ERROR "Error in typesuppor generation") 
     endif()
 
     set(_XmlDoc "${_XmlDoc}${_XmlGen}")
@@ -267,4 +197,4 @@ from ${_PYTHON_PKG_TOOL} import *
   set (_XmlDoc "<profiles>\n${_XmlDoc}</profiles>\n")
 
   file(WRITE "${_DEFAULT_FASTRTPS_PROFILES_PATH}" "${_XmlDoc}")
-endif()
+endif()

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

@@ -1,55 +0,0 @@
-// Copyright 2020 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.
-
-#ifndef _UROS_AGENT_AGENT_HPP
-#define _UROS_AGENT_AGENT_HPP
-
-#include <uxr/agent/AgentInstance.hpp>
-#include <uxr/agent/middleware/Middleware.hpp>
-#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:
-
-    Agent();
-
-    ~Agent() = default;
-
-    bool create(
-            int argc,
-            char** argv);
-
-    void run();
-
-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::shared_ptr<graph_manager::GraphManager> find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id);
-};
-
-}  // namespace agent
-}  // namespace uros
-#endif  // _UROS_AGENT_AGENT_HPP

micro_ros_agent/include/agent/graph_manager/graph_manager.hpp

@@ -1,316 +0,0 @@
-// Copyright 2020 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.
-
-#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"
-#include "fastrtps/participant/Participant.h"
-#include "fastrtps/participant/ParticipantListener.h"
-#include "fastrtps/attributes/PublisherAttributes.h"
-#include "fastrtps/publisher/Publisher.h"
-#include <fastrtps/publisher/PublisherListener.h>
-#include <fastrtps/rtps/common/MatchingInfo.h>
-
-#include <fastdds/dds/domain/DomainParticipant.hpp>
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
-#include <fastdds/dds/domain/DomainParticipantListener.hpp>
-#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/dds/publisher/DataWriter.hpp>
-#include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
-#include <fastdds/dds/publisher/Publisher.hpp>
-#include <fastdds/dds/subscriber/DataReader.hpp>
-#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
-#include <fastdds/dds/subscriber/SampleInfo.hpp>
-#include <fastdds/dds/subscriber/Subscriber.hpp>
-#include <fastdds/dds/subscriber/DataReaderListener.hpp>
-
-#include "rmw/types.h"
-#include "rmw/names_and_types.h"
-#include "rmw/impl/cpp/key_value.hpp"
-#include "rmw_dds_common/graph_cache.hpp"
-#include "rmw_fastrtps_shared_cpp/create_rmw_gid.hpp"
-#include "rmw_fastrtps_shared_cpp/qos.hpp"
-
-#include "rcutils/types.h"
-#include "rcutils/types/string_array.h"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_fastrtps_cpp/message_type_support.h"
-
-#include "rmw_dds_common/msg/participant_entities_info.hpp"
-#include "micro_ros_msgs/msg/graph.hpp"
-#include "micro_ros_msgs/msg/node.hpp"
-#include "micro_ros_msgs/msg/entity.hpp"
-
-#include <uxr/agent/types/XRCETypes.hpp>
-
-#include <agent/graph_manager/graph_typesupport.hpp>
-#include <agent/utils/demangle.hpp>
-
-#include <condition_variable>
-#include <string>
-#include <memory>
-#include <map>
-
-namespace uros {
-namespace agent {
-namespace graph_manager {
-
-/**
- * @brief   Class that keeps track of the existing entities in the ROS 2 world,
- *          both coming from micro-ROS or from external ROS 2 applications.
- */
-class GraphManager
-{
-public:
-    /**
-     * @brief   Default constructor.
-     */
-    GraphManager(eprosima::fastdds::dds::DomainId_t domain_id);
-
-    /**
-     * @brief   Default destructor.
-     */
-    ~GraphManager() = default;
-
-    /**
-     * @brief   Implementation of the notification logic that updates the micro-ROS graph.
-     */
-    void publish_microros_graph();
-
-    /**
-     * @brief   Adds a DDS participant to the graph tree.
-     * @param   participant eprosima::fastdds::dds::DomainParticipant to be added.
-     * @param   from_microros if this participant has been added from micro-ROS.
-     * @param   enclave ROS 2 enclave.
-     */
-    void add_participant(
-            const eprosima::fastdds::dds::DomainParticipant* participant,
-            bool from_microros = true,
-            const std::string& enclave = "/");
-
-    /**
-     * @brief   Removes a DDS participant from the graph tree.
-     * @param   participant eprosima::fastdds::dds::DomainParticipant to be removed.
-     */
-    void remove_participant(
-        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.
-     * @param   participant Pointer to the participant which owns this datawriter.
-     * @param   datawriter Pointer to the datawriter to be added.
-     */
-    void add_datawriter(
-            const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
-            const eprosima::fastdds::dds::DomainParticipant* participant,
-            const eprosima::fastdds::dds::DataWriter* datawriter);
-
-    /**
-     * @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::DataWriterQos& writer_qos);
-
-    /**
-     * @brief   Removes a DDS datawriter from the graph tree.
-     * @param   datawriter_guid rtps::GUID_t of the datawriter to be removed.
-     */
-    void remove_datawriter(
-            const eprosima::fastrtps::rtps::GUID_t& datawriter_guid);
-
-    /**
-     * @brief   Adds a DDS datareader to the graph tree.
-     * @param   datareader_guid rtps::GUID_t of the datareader to be added.
-     * @param   participant Pointer to the participant which owns this datareader.
-     * @param   datareader Pointer to the datareader to be added.
-     */
-    void add_datareader(
-            const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
-            const eprosima::fastdds::dds::DomainParticipant* participant,
-            const eprosima::fastdds::dds::DataReader* datareader);
-
-    /**
-     * @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::DataReaderQos& reader_qos);
-
-    /**
-     * @brief   Removes a DDS datareader from the graph tree.
-     * @param   datareader_guid rtps::GUID_t of the datareader to be removed.
-     */
-    void remove_datareader(
-            const  eprosima::fastrtps::rtps::GUID_t& datareader_guid);
-
-    /**
-     * @brief   Associates a certain DDS entity with a provided participant.
-     * @param   guid rtps::GUID_t identifier of the entity.
-     * @param   participant Participant to be associated with.
-     * @param   entity_kind Kind of the DDS entity.
-     */
-    void associate_entity(
-            const eprosima::fastrtps::rtps::GUID_t& entity_guid,
-            const eprosima::fastdds::dds::DomainParticipant* participant,
-            const dds::xrce::ObjectKind& entity_kind);
-
-private:
-
-    /**
-     * @brief   Implementation of FastDDS' DomainParticipantListener abstract class.
-     */
-    class ParticipantListener : public eprosima::fastdds::dds::DomainParticipantListener
-    {
-    public:
-
-        /**
-         * @brief   Constructor.
-         * @param   graph_manager Pointer to the GraphManager object which owns this ParticipantListener.
-         */
-        ParticipantListener(
-                GraphManager* graph_manager);
-    private:
-
-        template <typename Info>
-        void process_discovery_info(
-                const Info& proxyData);
-
-        void on_participant_discovery(
-                eprosima::fastdds::dds::DomainParticipant* participant,
-                eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info) override;
-
-        void on_subscriber_discovery(
-                eprosima::fastdds::dds::DomainParticipant* /*participant*/,
-                eprosima::fastrtps::rtps::ReaderDiscoveryInfo&& info) override;
-
-        void on_publisher_discovery(
-                eprosima::fastdds::dds::DomainParticipant* /*participant*/,
-                eprosima::fastrtps::rtps::WriterDiscoveryInfo&& info) override;
-
-        GraphManager* graphManager_from_;
-    };
-
-    /**
-     * @brief   Implementation of FastDDS' DomainReaderListener abstract class.
-     */
-    class DatareaderListener : public eprosima::fastdds::dds::DataReaderListener
-    {
-    public:
-
-        /**
-         * @brief   Constructor.
-         * @param   graph_manager Pointer to the GraphManager object which owns this DataReaderListener.
-         */
-        DatareaderListener(
-                GraphManager* graph_manager);
-
-    private:
-
-        void on_data_available(
-                eprosima::fastdds::dds::DataReader* /*sub*/) override;
-
-        GraphManager* graphManager_from_;
-    };
-
-    /**
-     * @brief   Convert FastDDS QOS object instance to RMW instance.
-     * @param   fastdds_qos QOS instance to be converted.
-     * @returns RMW object representation of the given FastDDS QOS.
-     */
-    template <typename FastDDSQos>
-    const rmw_qos_profile_t fastdds_qos_to_rmw_qos(
-            const FastDDSQos& fastdds_qos);
-
-    /**
-     * @brief   Update micro-ROS graph information upon new data
-     *          received in the 'ros_discovery_info' topic.
-     */
-    void update_node_entities_info();
-
-    /**
-     * @brief   Retrieves node name and namespace from
-     *          participant.
-     * @param   participant_name DDS participant name.
-     * @param   node_name ROS2 Node name.
-     * @param   namespace ROS2 Node namespace.
-     */
-    void get_name_and_namespace(
-            std::string participant_name,
-            std::string& node_name,
-            std::string& node_namespace);
-
-    eprosima::fastdds::dds::DomainId_t domain_id_;
-    bool graph_changed_;
-    bool display_on_change_;
-    std::thread microros_graph_publisher_;
-    std::mutex mtx_;
-    std::condition_variable cv_;
-
-    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_;
-    std::unique_ptr<eprosima::fastdds::dds::TypeSupport> microros_graph_info_typesupport_;
-    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_;
-
-    // Store a auxiliary publishers and datawriter for each participant created in micro-ROS
-    std::map<
-        const eprosima::fastdds::dds::DomainParticipant*,
-        std::unique_ptr<eprosima::fastdds::dds::DataWriter>
-    > micro_ros_graph_datawriters_;
-};
-
-}  // namespace graph_manager
-}  // namespace agent
-}  // namespace uros
-
-#endif  // _UROS_AGENT_GRAPH_MANAGER_HPP

micro_ros_agent/include/agent/graph_manager/graph_typesupport.hpp

@@ -1,127 +0,0 @@
-// Copyright 2020 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.
-
-#ifndef UROS_AGENT_GRAPH_PARTICIPANTS_TYPESUPPORT_HPP_
-#define UROS_AGENT_GRAPH_PARTICIPANTS_TYPESUPPORT_HPP_
-
-#include "fastrtps/Domain.h"
-#include <fastrtps/TopicDataType.h>
-#include "fastrtps/attributes/ParticipantAttributes.h"
-#include "fastrtps/participant/Participant.h"
-#include "fastrtps/participant/ParticipantListener.h"
-#include "fastrtps/attributes/PublisherAttributes.h"
-#include "fastrtps/publisher/Publisher.h"
-#include <fastrtps/publisher/PublisherListener.h>
-#include <fastrtps/rtps/common/MatchingInfo.h>
-
-#include <fastdds/dds/domain/DomainParticipant.hpp>
-#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-
-#include "rmw/types.h"
-#include "rmw/impl/cpp/key_value.hpp"
-#include "rmw_dds_common/graph_cache.hpp"
-#include "rmw_fastrtps_shared_cpp/create_rmw_gid.hpp"
-#include "rmw_fastrtps_shared_cpp/qos.hpp"
-
-#include "rcutils/types.h"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_fastrtps_cpp/message_type_support.h"
-
-#include "rmw_dds_common/msg/participant_entities_info.hpp"
-
-#include "micro_ros_msgs/msg/graph.hpp"
-
-namespace uros {
-namespace agent {
-namespace graph_manager {
-
-/**
- * @brief   Implementation of virtual class eprosima::fastdds::dds::TopicDataType.
- *          Is used to gather and send information about the entities present within a DDS domain,
- *          in the Agent's context.
- */
-class ParticipantEntitiesInfoTypeSupport : public eprosima::fastdds::dds::TopicDataType
-{
-public:
-
-    ParticipantEntitiesInfoTypeSupport();
-
-    virtual bool serialize(
-            void* data,
-            eprosima::fastrtps::rtps::SerializedPayload_t* payload) override;
-
-    virtual bool deserialize(
-            eprosima::fastrtps::rtps::SerializedPayload_t* payload,
-            void* data) override;
-
-    virtual std::function<uint32_t()> getSerializedSizeProvider(
-            void* data) override;
-
-    virtual void* createData() override;
-
-    virtual void deleteData(void* data) override;
-
-    virtual bool getKey(
-            void* data,
-            eprosima::fastrtps::rtps::InstanceHandle_t* handle,
-            bool force_md5) override;
-
-private:
-
-    const message_type_support_callbacks_t* callbacks_;
-    const rosidl_message_type_support_t* type_support_;
-};
-
-/**
- * @brief   Implementation of virtual class eprosima::fastdds::dds::TopicDataType.
- *          Is used to send graph information to Micro-ROS.
- */
-class MicrorosGraphInfoTypeSupport : public eprosima::fastdds::dds::TopicDataType
-{
-public:
-
-    MicrorosGraphInfoTypeSupport();
-
-    virtual bool serialize(
-            void* data,
-            eprosima::fastrtps::rtps::SerializedPayload_t* payload) override;
-
-    virtual bool deserialize(
-            eprosima::fastrtps::rtps::SerializedPayload_t* payload,
-            void* data) override;
-
-    virtual std::function<uint32_t()> getSerializedSizeProvider(
-            void* data) override;
-
-    virtual void* createData() override;
-
-    virtual void deleteData(void* data) override;
-
-    virtual bool getKey(
-            void* data,
-            eprosima::fastrtps::rtps::InstanceHandle_t* handle,
-            bool force_md5) override;
-
-private:
-
-    const message_type_support_callbacks_t* callbacks_;
-    const rosidl_message_type_support_t* type_support_;
-};
-
-}  // namespace graph_manager
-}  // namespace agent
-}  // namespace uros
-
-#endif  // UROS_AGENT_GRAPH_PARTICIPANTS_TYPESUPPORT_HPP_

micro_ros_agent/include/agent/utils/demangle.hpp

@@ -1,125 +0,0 @@
-// Copyright 2020 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.
-
-#ifndef UROS_AGENT_UTILS_DEMANGLE_HPP_
-#define UROS_AGENT_UTILS_DEMANGLE_HPP_
-
-#include <string>
-
-namespace uros {
-namespace agent {
-namespace utils {
-
-class Demangle
-{
-private:
-    /**
-     * @brief   Default constructor. Creating instances of this class is not allowed.
-     */
-    Demangle() = default;
-
-    /**
-     * @brief   Default destructor.
-     */
-    ~Demangle() = default;
-
-    /**
-     * @brief   Demangle service name for a given topic, prefix and service suffix,
-     *          if the topic is part of a service; otherwise, return blank.
-     * @param   prefix The ROS service prefix.
-     * @param   topic_name Topic to be demangled.
-     * @param   suffix The ROS service suffix.
-     * @returns The demangled service name.
-     */
-    static std::string _demangle_service_from_topic(
-            const std::string& prefix,
-            const std::string& topic_name,
-            const std::string& suffix);
-
-public:
-    /**
-     * @brief   Demangle if passed topic is a ROS topic; otherwise, keep it intact.
-     * @param   topic_name Topic to be demangled.
-     * @returns The demangled topic.
-     */
-    static std::string demangle_if_ros_topic(
-            const std::string& topic_name);
-
-    /**
-     * @brief   Demangle if passed type is a ROS type; otherwise, keep it intact.
-     * @param   dds_type_string Type to be demangled.
-     * @returns The demangled type.
-     */
-    static std::string demangle_if_ros_type(
-            const std::string& dds_type_string);
-
-    /**
-     * @brief   Demangle topic name for a given topic if it is part of one;
-     *          otherwise, return empty.
-     * @param   topic_name Topic to be demangled.
-     * @returns The demangled topic name.
-     */
-    static std::string demangle_ros_topic_from_topic(
-            const std::string& topic_name);
-
-    /**
-     * @brief   Demangle the service name for a given topic if it is part of a service;
-     *          otherwise, return empty.
-     * @param   topic_name Topic to be demangled.
-     * @returns The demangled service name.
-     */
-
-    static std::string demangle_service_from_topic(
-            const std::string& topic_name);
-
-    /**
-     * @brief   Demangle the service name for a given topic if it is part
-     *          of a service request; otherwise, return empty.
-     * @param   topic_name Topic to be demangled.
-     * @returns The demangled service request name.
-     */
-    static std::string demangle_service_request_from_topic(
-            const std::string& topic_name);
-
-    /**
-     * @brief   Demangle the service name for a given topic if it is part
-     *          of a service reply; otherwise, return empty.
-     * @param   topic_name Topic to be demangled.
-     * @returns The demangled service reply name.
-     */
-    static std::string demangle_service_reply_from_topic(
-            const std::string& topic_name);
-
-    /**
-     * @brief   Demangle the service type name if it is a ROS srv type; otherwise, return empty.
-     * @param   dds_type_name Type to be demangled.
-     * @returns The demangled service type.
-     */
-    static std::string demangle_service_type_only(
-            const std::string& dds_type_name);
-
-    /**
-     * @brief   Generic demangle function, used when ROS names are not mangled.
-     * @param   name Generic name to be demangled.
-     * @returns The demangled name.
-     */
-    static std::string identity_demangle(
-            const std::string& name);
-};
-
-}  // namespace utils
-}  // namespace agent
-}  // namespace uros
-
-#endif  // UROS_AGENT_UTILS_DEMANGLE_HPP_

micro_ros_agent/launch/micro_ros_agent_launch.py

@@ -1,12 +0,0 @@
-from launch import LaunchDescription
-from launch_ros.actions import Node
-
-def generate_launch_description():
-    return LaunchDescription([
-        Node(
-            package='micro_ros_agent',
-            executable='micro_ros_agent',
-            name='micro_ros_agent',
-            arguments=["udp4", "-p", "8888", "-v6"]
-        )
-    ])

micro_ros_agent/micro_ros_agent/__init__.py

@@ -164,20 +164,21 @@ def generate_XML(args):
             # Generate source file path
             src_file = os.path.join(srcs_dir, "%s_%s_%s.xml" % (spec.base_type.pkg_name, subfolder, spec.msg_name))
 
+
             # Data writer
-            file_content  = "   <dds>\n"
+            #file_content  = "   <dds>\n"
-            file_content += "       <data_writer profile_name=\"%s_%s_%s_p\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content  = "       <data_writer profile_name=\"%s_%s_%s_p\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
             file_content += "           <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
             file_content += "               <kind>NO_KEY</kind>\n"
             file_content += "               <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
             file_content += "               <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
             file_content += "           </topic>\n"
             file_content += "       </data_writer>\n"
-            file_content += "   </dds>\n"
+            #file_content += "   </dds>\n"
 
 
             # Data reader
-            file_content += "   <dds>\n"
+            #file_content += "   <dds>\n"
             file_content += "       <data_reader profile_name=\"%s_%s_%s_s\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
             file_content += "           <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
             file_content += "               <kind>NO_KEY</kind>\n"
@@ -185,16 +186,16 @@ def generate_XML(args):
             file_content += "               <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
             file_content += "           </topic>\n"
             file_content += "       </data_reader>\n"
-            file_content += "   </dds>\n"
+            #file_content += "   </dds>\n"
 
 
             # Topic
-            file_content += "   <dds>\n"
+            #file_content += "   <dds>\n"
             file_content += "       <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
             file_content += "           <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
             file_content += "           <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
             file_content += "       </topic>\n"
-            file_content += "   </dds>\n"
+            #file_content += "   </dds>\n"
 
 
             # Write file content

micro_ros_agent/package.xml

@@ -2,29 +2,19 @@
 <?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>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>
+  <buildtool_export_depend>ament_cmake</buildtool_export_depend>
 
-  <test_depend>rosidl_default_generators</test_depend>
+  <depend>microxrcedds_agent</depend>
-
+  
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
-  <depend>rmw</depend>
-  <depend>rcutils</depend>
-  <depend>rmw_fastrtps_shared_cpp</depend>
-  <depend>rmw_dds_common</depend>
-  <depend>micro_ros_msgs</depend>
-
-  <test_depend>rosidl_typesupport_fastrtps_cpp</test_depend>
-  <test_depend>ament_cmake_gtest</test_depend>
-  <test_depend>builtin_interfaces</test_depend>
-
   <export>
     <build_type>ament_cmake</build_type>
   </export>

micro_ros_agent/src/agent/Agent.cpp

@@ -1,313 +0,0 @@
-// Copyright 2020 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.
-
-#ifndef _UROS_AGENT_AGENT_CPP
-#define _UROS_AGENT_AGENT_CPP
-
-#include <agent/Agent.hpp>
-
-#include <utility>
-#include <memory>
-
-namespace uros {
-namespace agent {
-
-Agent::Agent()
-    : xrce_dds_agent_instance_(xrce_dds_agent_instance_.getInstance())
-{
-}
-
-bool Agent::create(
-        int argc,
-        char** argv)
-{
-    bool result = xrce_dds_agent_instance_.create(argc, argv);
-    if (result)
-    {
-        /**
-         * Add CREATE_PARTICIPANT callback.
-         */
-        std::function<void (
-            const eprosima::fastdds::dds::DomainParticipant *)> on_create_participant
-            ([&](
-                const eprosima::fastdds::dds::DomainParticipant* participant) -> void
-            {
-                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
-                graph_manager_->add_participant(participant);
-            });
-        xrce_dds_agent_instance_.add_middleware_callback(
-            eprosima::uxr::Middleware::Kind::FASTDDS,
-            eprosima::uxr::middleware::CallbackKind::CREATE_PARTICIPANT,
-            std::move(on_create_participant));
-
-        /**
-         * Add REMOVE_PARTICIPANT callback.
-         */
-        std::function<void (
-            const eprosima::fastdds::dds::DomainParticipant *)> on_delete_participant
-            ([&](
-                const eprosima::fastdds::dds::DomainParticipant* participant) -> void
-            {
-                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
-                graph_manager_->remove_participant(participant);
-            });
-        xrce_dds_agent_instance_.add_middleware_callback(
-            eprosima::uxr::Middleware::Kind::FASTDDS,
-            eprosima::uxr::middleware::CallbackKind::DELETE_PARTICIPANT,
-            std::move(on_delete_participant));
-
-        /**
-         * Add CREATE_DATAWRITER callback.
-         */
-        std::function<void (
-            const eprosima::fastdds::dds::DomainParticipant *,
-            const eprosima::fastdds::dds::DataWriter *)> on_create_datawriter
-            ([&](
-                const eprosima::fastdds::dds::DomainParticipant* participant,
-                const eprosima::fastdds::dds::DataWriter* datawriter) -> 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);
-            });
-        xrce_dds_agent_instance_.add_middleware_callback(
-            eprosima::uxr::Middleware::Kind::FASTDDS,
-            eprosima::uxr::middleware::CallbackKind::CREATE_DATAWRITER,
-            std::move(on_create_datawriter));
-
-        /**
-         * Add DELETE_DATAWRITER callback.
-         */
-        std::function<void (
-            const eprosima::fastdds::dds::DomainParticipant *,
-            const eprosima::fastdds::dds::DataWriter *)> on_delete_datawriter
-            ([&](
-                const eprosima::fastdds::dds::DomainParticipant* participant,
-                const eprosima::fastdds::dds::DataWriter* datawriter) -> void
-            {
-
-                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
-
-                graph_manager_->remove_datawriter(datawriter->guid());
-            });
-
-        xrce_dds_agent_instance_.add_middleware_callback(
-            eprosima::uxr::Middleware::Kind::FASTDDS,
-            eprosima::uxr::middleware::CallbackKind::DELETE_DATAWRITER,
-            std::move(on_delete_datawriter));
-
-        /**
-         * Add CREATE_DATAREADER callback.
-         */
-        std::function<void (
-            const eprosima::fastdds::dds::DomainParticipant *,
-            const eprosima::fastdds::dds::DataReader*)> on_create_datareader
-            ([&](
-                const eprosima::fastdds::dds::DomainParticipant* participant,
-                const eprosima::fastdds::dds::DataReader* datareader) -> void
-            {
-                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
-
-                // TODO(jamoralp): 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_DATAREADER,
-            std::move(on_create_datareader));
-
-        /**
-         * Add DELETE_DATAREADER callback.
-         */
-        std::function<void (
-            const eprosima::fastdds::dds::DomainParticipant *,
-            const eprosima::fastdds::dds::DataReader *)> on_delete_datareader
-            ([&](
-                const eprosima::fastdds::dds::DomainParticipant* participant,
-                const eprosima::fastdds::dds::DataReader* datareader) -> void
-            {
-                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
-
-                // TODO(jamoralp): 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_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;
-}
-
-void Agent::run()
-{
-    return xrce_dds_agent_instance_.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);
-
-    if (it != graph_manager_map_.end()) {
-        return it->second;
-    }else{
-        return graph_manager_map_.insert(
-            std::make_pair(
-                domain_id,
-                std::make_shared<graph_manager::GraphManager>(domain_id)
-            )
-        ).first->second;
-    }
-}
-
-}  // namespace agent
-}  // namespace uros
-#endif  // _UROS_AGENT_AGENT_CPP

micro_ros_agent/src/agent/graph_manager/graph_manager.cpp

@@ -1,766 +0,0 @@
-// Copyright 2020 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.
-
-#ifndef _UROS_AGENT_GRAPH_MANAGER_CPP
-#define _UROS_AGENT_GRAPH_MANAGER_CPP
-
-#include <agent/graph_manager/graph_manager.hpp>
-
-#include <memory>
-#include <string>
-#include <utility>
-#include <vector>
-
-namespace uros {
-namespace agent {
-namespace graph_manager {
-
-GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
-    : domain_id_(domain_id)
-    , graph_changed_(false)
-    , display_on_change_(false)
-    , mtx_()
-    , cv_()
-    , graphCache_()
-    , participant_listener_(std::make_unique<ParticipantListener>(this))
-    , datareader_listener_(std::make_unique<DatareaderListener>(this))
-    , participant_info_typesupport_(std::make_unique<
-        eprosima::fastdds::dds::TypeSupport>(new graph_manager::ParticipantEntitiesInfoTypeSupport()))
-    , microros_graph_info_typesupport_(std::make_unique<
-        eprosima::fastdds::dds::TypeSupport>(new graph_manager::MicrorosGraphInfoTypeSupport()))
-{
-    eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->load_profiles();
-
-    // Create DomainParticipant
-    eprosima::fastdds::dds::DomainParticipantQos participant_qos =
-        eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->get_default_participant_qos();
-
-    const char * enclave = "/";
-    size_t length = snprintf(nullptr, 0, "enclave=%s;", enclave) + 1;
-    participant_qos.user_data().resize(length);
-    snprintf(reinterpret_cast<char *>(participant_qos.user_data().data_vec().data()),
-        length, "enclave=%s;", enclave);
-
-    participant_qos.name(enclave);
-    participant_qos.wire_protocol().builtin.readerHistoryMemoryPolicy =
-        eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
-    participant_qos.wire_protocol().builtin.writerHistoryMemoryPolicy =
-        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));
-
-    // Register participant within typesupport
-    participant_->register_type(*participant_info_typesupport_);
-    participant_->register_type(*microros_graph_info_typesupport_);
-
-    // Create publisher
-    publisher_.reset(participant_->create_publisher(
-        eprosima::fastdds::dds::PUBLISHER_QOS_DEFAULT));
-
-    // Create subscriber
-    subscriber_.reset(participant_->create_subscriber(
-        eprosima::fastdds::dds::SUBSCRIBER_QOS_DEFAULT));
-
-    // Create topics
-    ros_discovery_topic_.reset(participant_->create_topic("ros_discovery_info",
-        participant_info_typesupport_->get_type_name(),
-        eprosima::fastdds::dds::TOPIC_QOS_DEFAULT));
-
-    ros_to_microros_graph_topic_.reset(participant_->create_topic("ros_to_microros_graph",
-        microros_graph_info_typesupport_->get_type_name(),
-        eprosima::fastdds::dds::TOPIC_QOS_DEFAULT));
-
-    // Create datawriters
-    datawriter_qos_ =
-        eprosima::fastdds::dds::DATAWRITER_QOS_DEFAULT;
-
-    datawriter_qos_.history().kind =
-        eprosima::fastdds::dds::HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
-    datawriter_qos_.history().depth = 1;
-    datawriter_qos_.endpoint().history_memory_policy =
-        eprosima::fastrtps::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
-    datawriter_qos_.publish_mode().kind =
-        eprosima::fastdds::dds::PublishModeQosPolicyKind::ASYNCHRONOUS_PUBLISH_MODE;
-    datawriter_qos_.reliability().kind =
-        eprosima::fastdds::dds::ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
-    datawriter_qos_.durability().kind =
-        eprosima::fastdds::dds::DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;
-
-    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;
-    ros_to_microros_graph_datawriter_.reset(
-        publisher_->create_datawriter(ros_to_microros_graph_topic_.get(), ros_to_microros_datawriter_qos_));
-
-    // Create datareaders
-
-    eprosima::fastdds::dds::DataReaderQos datareader_qos =
-        eprosima::fastdds::dds::DATAREADER_QOS_DEFAULT;
-    datareader_qos.history().kind =
-        eprosima::fastdds::dds::HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
-    datareader_qos.history().depth = 1;
-    datareader_qos.endpoint().history_memory_policy =
-        eprosima::fastrtps::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
-    datareader_qos.reliability().kind =
-        eprosima::fastdds::dds::ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
-    datareader_qos.durability().kind =
-        eprosima::fastdds::dds::DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;
-
-    ros_discovery_datareader_.reset(
-        subscriber_->create_datareader(ros_discovery_topic_.get(),
-            datareader_qos, datareader_listener_.get()));
-
-    // Set graph cache on change callback function
-    graphCache_.set_on_change_callback([this]()
-    {
-        std::unique_lock<std::mutex> lock(this->mtx_);
-        this->graph_changed_ = true;
-        this->cv_.notify_one();
-    });
-
-    microros_graph_publisher_ = std::thread(&GraphManager::publish_microros_graph, this);
-}
-
-inline void GraphManager::publish_microros_graph()
-{
-    while (true)
-    {
-        {
-            std::unique_lock<std::mutex> lock(mtx_);
-            cv_.wait(lock, [this]()
-            {
-                return this->graph_changed_;
-            });
-        }
-
-        if (display_on_change_)
-        {
-            std::cout << "Updated uros Graph: graph changed" << std::endl;
-            std::cout << graphCache_ << std::endl;
-        }
-        graph_changed_ = false;
-
-        micro_ros_msgs::msg::Graph graph_message;
-
-        rcutils_string_array_t node_names = rcutils_get_zero_initialized_string_array();
-        rcutils_string_array_t node_namespaces = rcutils_get_zero_initialized_string_array();
-        rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-        graphCache_.get_node_names(&node_names, &node_namespaces, nullptr, &allocator);
-
-        for (size_t i = 0; i < node_names.size; ++i)
-        {
-            const std::string node_name(node_names.data[i]);
-            const std::string node_namespace(node_namespaces.data[i]);
-
-            micro_ros_msgs::msg::Node node_message;
-            node_message.node_namespace = std::move(node_namespace);
-            node_message.node_name = std::move(node_name);
-
-            // Get publishers info
-            rmw_names_and_types_t writer_names_and_types =
-                rmw_get_zero_initialized_names_and_types();
-            if (RMW_RET_OK != graphCache_.get_writer_names_and_types_by_node(node_name, node_namespace,
-                uros::agent::utils::Demangle::demangle_ros_topic_from_topic,
-                uros::agent::utils::Demangle::demangle_if_ros_type,
-                &allocator, &writer_names_and_types))
-            {
-                break;
-            }
-
-            for (size_t i = 0; i < writer_names_and_types.names.size; ++i)
-            {
-                micro_ros_msgs::msg::Entity entity_message;
-                entity_message.entity_type = micro_ros_msgs::msg::Entity::PUBLISHER;
-                entity_message.name = std::move(std::string(writer_names_and_types.names.data[i]));
-
-                for (size_t j = 0; j < writer_names_and_types.types[i].size; ++j)
-                {
-                    entity_message.types.emplace_back(writer_names_and_types.types[i].data[j]);
-                }
-
-                node_message.entities.emplace_back(std::move(entity_message));
-            }
-
-            // Get subscribers info
-            rmw_names_and_types_t reader_names_and_types =
-                rmw_get_zero_initialized_names_and_types();
-            if (RMW_RET_OK != graphCache_.get_reader_names_and_types_by_node(node_name, node_namespace,
-                uros::agent::utils::Demangle::demangle_ros_topic_from_topic,
-                uros::agent::utils::Demangle::demangle_if_ros_type,
-                &allocator, &reader_names_and_types))
-            {
-                break;
-            }
-
-            for (size_t i = 0; i < reader_names_and_types.names.size; ++i)
-            {
-                micro_ros_msgs::msg::Entity entity_message;
-                entity_message.entity_type = micro_ros_msgs::msg::Entity::SUBSCRIBER;
-                entity_message.name = std::move(std::string(reader_names_and_types.names.data[i]));
-
-                for (size_t j = 0; j < reader_names_and_types.types[i].size; ++j)
-                {
-                    entity_message.types.emplace_back(reader_names_and_types.types[i].data[j]);
-                }
-
-                node_message.entities.emplace_back(std::move(entity_message));
-            }
-
-            // Get services
-            //// Get servers
-            rmw_names_and_types_t service_server_names_and_types =
-              rmw_get_zero_initialized_names_and_types();
-            if (RMW_RET_OK != graphCache_.get_names_and_types(
-                uros::agent::utils::Demangle::demangle_service_request_from_topic,
-                uros::agent::utils::Demangle::demangle_service_type_only,
-                &allocator, &service_server_names_and_types))
-            {
-                break;
-            }
-
-            for (size_t i = 0; i < service_server_names_and_types.names.size; ++i)
-            {
-                micro_ros_msgs::msg::Entity entity_message;
-                entity_message.entity_type = micro_ros_msgs::msg::Entity::SERVICE_SERVER;
-                entity_message.name = std::move(std::string(service_server_names_and_types.names.data[i]));
-
-                for (size_t j = 0; j < service_server_names_and_types.types[i].size; ++j)
-                {
-                    entity_message.types.emplace_back(service_server_names_and_types.types[i].data[j]);
-                }
-
-                node_message.entities.emplace_back(std::move(entity_message));
-            }
-
-            //// Get clients
-            rmw_names_and_types_t service_client_names_and_types =
-              rmw_get_zero_initialized_names_and_types();
-            if (RMW_RET_OK != graphCache_.get_names_and_types(
-                uros::agent::utils::Demangle::demangle_service_reply_from_topic,
-                uros::agent::utils::Demangle::demangle_service_type_only,
-                &allocator, &service_client_names_and_types))
-            {
-              break;
-            }
-
-            for (size_t i = 0; i < service_client_names_and_types.names.size; ++i)
-            {
-                micro_ros_msgs::msg::Entity entity_message;
-                entity_message.entity_type = micro_ros_msgs::msg::Entity::SERVICE_CLIENT;
-                entity_message.name = std::move(std::string(service_client_names_and_types.names.data[i]));
-
-                for (size_t j = 0; j < service_client_names_and_types.types[i].size; ++j)
-                {
-                    entity_message.types.emplace_back(service_client_names_and_types.types[i].data[j]);
-                }
-
-                node_message.entities.emplace_back(std::move(entity_message));
-            }
-
-            graph_message.nodes.emplace_back(std::move(node_message));
-
-            if (RMW_RET_OK != rmw_names_and_types_fini(&writer_names_and_types) ||
-                RMW_RET_OK != rmw_names_and_types_fini(&reader_names_and_types) ||
-                RMW_RET_OK != rmw_names_and_types_fini(&service_server_names_and_types) ||
-                RMW_RET_OK != rmw_names_and_types_fini(&service_client_names_and_types))
-            {
-                std::cerr << "Problem while freeing resources in Micro-ROS Graph Manager"
-                          << ", file: '" << __FILE__ << "', line: '" << __LINE__ << "'." << std::endl;
-                return;
-            }
-        }
-
-        ros_to_microros_graph_datawriter_->write(static_cast<void *>(&graph_message));
-
-        if (RCUTILS_RET_OK != rcutils_string_array_fini(&node_names) ||
-            RCUTILS_RET_OK != rcutils_string_array_fini(&node_namespaces))
-        {
-            std::cerr << "Problem while freeing resources in Micro-ROS Graph Manager"
-                      << ", file: '" << __FILE__ << "', line: '" << __LINE__ << "'." << std::endl;
-            break;
-        }
-    }
-}
-
-void GraphManager::add_participant(
-        const eprosima::fastdds::dds::DomainParticipant* participant,
-        bool from_microros,
-        const std::string& enclave)
-{
-    const eprosima::fastdds::dds::DomainParticipantQos qos = participant->get_qos();
-    const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", participant->guid());
-
-    graphCache_.add_participant(gid, enclave);
-
-    // Do not add root node and
-    // do not announce non-micro-ROS participants
-    if (qos.name().to_string() != "/" && from_microros)
-    {
-        std::string isolated_node_name, isolated_namespace;
-        get_name_and_namespace(qos.name().to_string(), isolated_node_name, isolated_namespace);
-
-        rmw_dds_common::msg::ParticipantEntitiesInfo info =
-            graphCache_.add_node(gid, isolated_node_name, isolated_namespace);
-
-        auto it = micro_ros_graph_datawriters_.find(participant);
-        if (it == micro_ros_graph_datawriters_.end())
-        {
-            // Create datawriter
-            std::unique_ptr<eprosima::fastdds::dds::DataWriter> datawriter;
-            datawriter.reset(publisher_->create_datawriter(ros_discovery_topic_.get(), datawriter_qos_));
-
-            it = micro_ros_graph_datawriters_.insert(
-                std::make_pair(participant, std::move(datawriter))).first;
-        }
-
-        it->second->write(static_cast<void *>(&info));
-    }
-}
-
-void GraphManager::remove_participant(
-        const eprosima::fastdds::dds::DomainParticipant* participant,
-        bool from_microros)
-{
-    const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", participant->guid());
-    graphCache_.remove_participant(gid);
-
-    if (from_microros)
-    {
-        rmw_dds_common::msg::ParticipantEntitiesInfo info;
-        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));
-    }
-    micro_ros_graph_datawriters_.erase(participant);
-}
-
-void GraphManager::add_datawriter(
-        const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
-        const eprosima::fastdds::dds::DomainParticipant* participant,
-        const eprosima::fastdds::dds::DataWriter* 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,
-        participant->guid(), datawriter->get_qos());
-}
-
-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::DataWriterQos& 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);
-    const rmw_qos_profile_t qos_profile = fastdds_qos_to_rmw_qos(writer_qos);
-
-    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)
-{
-    const rmw_gid_t datawriter_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
-        "rmw_fastrtps_cpp", datawriter_guid);
-
-    graphCache_.remove_entity(datawriter_gid, false);
-}
-
-void GraphManager::add_datareader(
-        const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
-        const eprosima::fastdds::dds::DomainParticipant* participant,
-        const eprosima::fastdds::dds::DataReader* datareader)
-{
-    const std::string& topic_name = datareader->get_topicdescription()->get_name();
-    const std::string& type_name = datareader->get_topicdescription()->get_type_name();
-    this->add_datareader(datareader_guid, topic_name, type_name,
-        participant->guid(), datareader->get_qos());
-}
-
-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::DataReaderQos& 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);
-    const rmw_qos_profile_t qos_profile = fastdds_qos_to_rmw_qos(reader_qos);
-
-    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)
-{
-    const rmw_gid_t datareader_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
-        "rmw_fastrtps_cpp", datareader_guid);
-
-    graphCache_.remove_entity(datareader_gid, true);
-}
-
-void GraphManager::associate_entity(
-        const eprosima::fastrtps::rtps::GUID_t& entity_guid,
-        const eprosima::fastdds::dds::DomainParticipant* participant,
-        const dds::xrce::ObjectKind& entity_kind)
-{
-    const rmw_gid_t entity_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
-        "rmw_fastrtps_cpp", entity_guid);
-    const rmw_gid_t participant_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
-        "rmw_fastrtps_cpp", participant->guid());
-
-    eprosima::fastdds::dds::DomainParticipantQos qos = participant->get_qos();
-    rmw_dds_common::msg::ParticipantEntitiesInfo info;
-
-    switch (entity_kind)
-    {
-        case dds::xrce::OBJK_DATAWRITER:
-        {
-            std::string isolated_node_name, isolated_namespace;
-            get_name_and_namespace(qos.name().c_str(), isolated_node_name, isolated_namespace);
-            info = graphCache_.associate_writer(
-                entity_gid, participant_gid, isolated_node_name, isolated_namespace);
-            break;
-        }
-        case dds::xrce::OBJK_DATAREADER:
-        {
-            std::string isolated_node_name, isolated_namespace;
-            get_name_and_namespace(qos.name().c_str(), isolated_node_name, isolated_namespace);
-            info = graphCache_.associate_reader(
-                entity_gid, participant_gid, isolated_node_name, isolated_namespace);
-            break;
-        }
-        default:
-        {
-            break;
-        }
-    }
-
-    auto it = micro_ros_graph_datawriters_.find(participant);
-    it->second->write(static_cast<void *>(&info));
-}
-
-
-template <typename FastDDSQos>
-const rmw_qos_profile_t GraphManager::fastdds_qos_to_rmw_qos(
-        const FastDDSQos& fastdds_qos)
-{
-    rmw_qos_profile_t rmw_qos = rmw_qos_profile_unknown;
-    switch (fastdds_qos.reliability().kind)
-    {
-        case eprosima::fastdds::dds::ReliabilityQosPolicyKind::BEST_EFFORT_RELIABILITY_QOS:
-        {
-            rmw_qos.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
-            break;
-        }
-        case eprosima::fastdds::dds::ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS:
-        {
-            rmw_qos.reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
-            break;
-        }
-        default:
-        {
-            rmw_qos.reliability = RMW_QOS_POLICY_RELIABILITY_UNKNOWN;
-            break;
-        }
-    }
-
-    switch (fastdds_qos.durability().kind)
-    {
-        case eprosima::fastdds::dds::DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS:
-        {
-            rmw_qos.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
-            break;
-        }
-        case eprosima::fastdds::dds::DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS:
-        {
-            rmw_qos.durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
-            break;
-        }
-        default:
-        {
-            rmw_qos.durability = RMW_QOS_POLICY_DURABILITY_UNKNOWN;
-            break;
-        }
-    }
-
-    rmw_qos.deadline.sec = fastdds_qos.deadline().period.seconds;
-    rmw_qos.deadline.nsec = fastdds_qos.deadline().period.nanosec;
-
-    rmw_qos.lifespan.sec = fastdds_qos.lifespan().duration.seconds;
-    rmw_qos.lifespan.nsec = fastdds_qos.lifespan().duration.nanosec;
-
-    switch (fastdds_qos.liveliness().kind)
-    {
-        case eprosima::fastdds::dds::LivelinessQosPolicyKind::AUTOMATIC_LIVELINESS_QOS:
-        {
-            rmw_qos.liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
-            break;
-        }
-        case eprosima::fastdds::dds::LivelinessQosPolicyKind::MANUAL_BY_TOPIC_LIVELINESS_QOS:
-        {
-            rmw_qos.liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC;
-            break;
-        }
-        default:
-        {
-            rmw_qos.liveliness = RMW_QOS_POLICY_LIVELINESS_UNKNOWN;
-            break;
-        }
-    }
-
-    rmw_qos.liveliness_lease_duration.sec = fastdds_qos.liveliness().lease_duration.seconds;
-    rmw_qos.liveliness_lease_duration.nsec = fastdds_qos.liveliness().lease_duration.nanosec;
-
-    return rmw_qos;
-}
-
-void GraphManager::update_node_entities_info()
-{
-    rmw_dds_common::msg::ParticipantEntitiesInfo entities_info;
-    eprosima::fastdds::dds::SampleInfo sample_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)
-        {
-            graphCache_.update_participant_entities(entities_info);
-        }
-    }
-}
-
-void GraphManager::get_name_and_namespace(
-    std::string participant_name,
-    std::string& node_name,
-    std::string& node_namespace)
-{
-    // Remove first / if exists
-    if (participant_name.rfind("/", 0) == 0)
-    {
-        participant_name.erase(participant_name.begin());
-    }
-
-    // Split node name in domain and node name
-    std::istringstream iss(participant_name);
-    std::vector<std::string> result;
-    std::string token;
-
-    while(std::getline(iss, token, '/'))
-    {
-        result.push_back(token);
-    }
-
-    if (result.size() > 1)
-    {
-        node_namespace = "/" + result[0];
-        for (size_t i = 1; i < result.size(); i++)
-        {
-            node_name.append(result[i] + "/");
-        }
-        node_name.pop_back();
-    }
-    else
-    {
-        node_name = participant_name;
-        node_namespace = "/";
-    }
-}
-
-GraphManager::ParticipantListener::ParticipantListener(
-        GraphManager* graph_manager)
-    : eprosima::fastdds::dds::DomainParticipantListener()
-    , graphManager_from_(graph_manager)
-{
-}
-
-void GraphManager::ParticipantListener::on_participant_discovery(
-        eprosima::fastdds::dds::DomainParticipant* /* participant */,
-        eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info)
-{
-    switch (info.status)
-    {
-        case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DISCOVERED_PARTICIPANT:
-        {
-            auto map = rmw::impl::cpp::parse_key_value(info.info.m_userData);
-            auto name_found = map.find("enclave");
-
-            if (map.end() == name_found)
-            {
-                return;
-            }
-            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);
-            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);
-            break;
-        }
-        default:
-        {
-            break;
-        }
-    }
-}
-
-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)
-{
-    switch (reader_info.status)
-    {
-        case eprosima::fastrtps::rtps::ReaderDiscoveryInfo::CHANGED_QOS_READER:
-        {
-            return;
-        }
-        case eprosima::fastrtps::rtps::ReaderDiscoveryInfo::DISCOVERED_READER:
-        {
-            const std::string topic_name = reader_info.info.topicName().to_string();
-            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));
-            break;
-        }
-        default:
-        {
-            graphManager_from_->remove_datareader(reader_info.info.guid());
-            break;
-        }
-    }
-}
-
-template <>
-void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtps::rtps::WriterDiscoveryInfo>(
-        const eprosima::fastrtps::rtps::WriterDiscoveryInfo& writer_info)
-{
-    switch (writer_info.status)
-    {
-        case eprosima::fastrtps::rtps::WriterDiscoveryInfo::CHANGED_QOS_WRITER:
-        {
-            return;
-        }
-        case eprosima::fastrtps::rtps::WriterDiscoveryInfo::DISCOVERED_WRITER:
-        {
-            const std::string topic_name = writer_info.info.topicName().to_string();
-            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));
-            break;
-        }
-        default:
-        {
-            graphManager_from_->remove_datawriter(writer_info.info.guid());
-            break;
-        }
-    }
-}
-
-void GraphManager::ParticipantListener::on_subscriber_discovery(
-        eprosima::fastdds::dds::DomainParticipant* /*participant*/,
-        eprosima::fastrtps::rtps::ReaderDiscoveryInfo&& info)
-{
-    process_discovery_info<eprosima::fastrtps::rtps::ReaderDiscoveryInfo>(info);
-}
-
-void GraphManager::ParticipantListener::on_publisher_discovery(
-        eprosima::fastdds::dds::DomainParticipant* /*participant*/,
-        eprosima::fastrtps::rtps::WriterDiscoveryInfo&& info)
-{
-    process_discovery_info<eprosima::fastrtps::rtps::WriterDiscoveryInfo>(info);
-}
-
-GraphManager::DatareaderListener::DatareaderListener(
-        GraphManager* graph_manager)
-    : eprosima::fastdds::dds::DataReaderListener()
-    , graphManager_from_(graph_manager)
-{
-}
-
-void GraphManager::DatareaderListener::on_data_available(
-        eprosima::fastdds::dds::DataReader* /*sub*/)
-{
-    graphManager_from_->update_node_entities_info();
-}
-
-}  // namespace graph_manager
-}  // namespace agent
-}  // namespace uros
-
-#endif  // _UROS_AGENT_GRAPH_MANAGER_CPP

micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp

@@ -1,213 +0,0 @@
-// Copyright 2020 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.
-
-#ifndef UROS_AGENT_GRAPH_PARTICIPANTS_TYPESUPPORT_CPP_
-#define UROS_AGENT_GRAPH_PARTICIPANTS_TYPESUPPORT_CPP_
-
-#include <agent/graph_manager/graph_typesupport.hpp>
-
-#include <string>
-
-namespace uros {
-namespace agent {
-namespace graph_manager {
-
-ParticipantEntitiesInfoTypeSupport::ParticipantEntitiesInfoTypeSupport()
-    : TopicDataType()
-{
-    type_support_ = rosidl_typesupport_cpp::get_message_type_support_handle<
-        rmw_dds_common::msg::ParticipantEntitiesInfo>();
-    type_support_ = get_message_typesupport_handle(type_support_,
-        "rosidl_typesupport_fastrtps_cpp");
-    callbacks_ = static_cast<const message_type_support_callbacks_t *>(type_support_->data);
-
-    std::ostringstream ss;
-    const std::string message_namespace(callbacks_->message_namespace_);
-    const std::string message_name(callbacks_->message_name_);
-
-    if (!message_namespace.empty())
-    {
-        ss << message_namespace << "::";
-    }
-    ss << "dds_::" << message_name << "_";
-    this->setName(ss.str().c_str());
-
-    bool full_bounded = true;
-    m_typeSize = 4 + callbacks_->max_serialized_size(full_bounded);
-}
-
-bool ParticipantEntitiesInfoTypeSupport::serialize(
-        void * data,
-        eprosima::fastrtps::rtps::SerializedPayload_t * payload)
-{
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
-        payload->max_size);
-    eprosima::fastcdr::Cdr scdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-        eprosima::fastcdr::Cdr::DDS_CDR);
-
-    scdr.serialize_encapsulation();
-    if (callbacks_->cdr_serialize(data, scdr))
-    {
-        payload->encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
-            CDR_BE : CDR_LE;
-        payload->length = static_cast<uint32_t>(scdr.getSerializedDataLength());
-        return true;
-    }
-    else
-    {
-        return false;
-    }
-}
-
-bool ParticipantEntitiesInfoTypeSupport::deserialize(
-        eprosima::fastrtps::rtps::SerializedPayload_t * payload,
-        void * data)
-{
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
-        payload->length);
-    eprosima::fastcdr::Cdr dcdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-        eprosima::fastcdr::Cdr::DDS_CDR);
-
-    dcdr.read_encapsulation();
-    return callbacks_->cdr_deserialize(dcdr, data);
-}
-
-std::function<uint32_t()> ParticipantEntitiesInfoTypeSupport::getSerializedSizeProvider(
-        void * data)
-{
-    return [data, this]() -> uint32_t
-    {
-        return static_cast<uint32_t>(4 + callbacks_->get_serialized_size(data));
-    };
-}
-
-void * ParticipantEntitiesInfoTypeSupport::createData()
-{
-    return static_cast<void *>(nullptr);
-}
-
-void ParticipantEntitiesInfoTypeSupport::deleteData(
-        void * data)
-{
-    (void) data;
-}
-
-bool ParticipantEntitiesInfoTypeSupport::getKey(
-        void * data,
-        eprosima::fastrtps::rtps::InstanceHandle_t * handle,
-        bool force_md5)
-{
-    (void) data;
-    (void) handle;
-    (void) force_md5;
-    return m_isGetKeyDefined;
-}
-
-
-MicrorosGraphInfoTypeSupport::MicrorosGraphInfoTypeSupport()
-    : TopicDataType()
-{
-    type_support_ = rosidl_typesupport_cpp::get_message_type_support_handle<
-        micro_ros_msgs::msg::Graph>();
-    type_support_ = get_message_typesupport_handle(type_support_,
-        "rosidl_typesupport_fastrtps_cpp");
-    callbacks_ = static_cast<const message_type_support_callbacks_t *>(type_support_->data);
-
-    std::ostringstream ss;
-    const std::string message_namespace(callbacks_->message_namespace_);
-    const std::string message_name(callbacks_->message_name_);
-
-    if (!message_namespace.empty())
-    {
-        ss << message_namespace << "::";
-    }
-    ss << "dds_::" << message_name << "_";
-    this->setName(ss.str().c_str());
-
-    bool full_bounded = true;
-    m_typeSize = 4 + callbacks_->max_serialized_size(full_bounded);
-}
-
-bool MicrorosGraphInfoTypeSupport::serialize(
-        void * data,
-        eprosima::fastrtps::rtps::SerializedPayload_t * payload)
-{
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
-        payload->max_size);
-    eprosima::fastcdr::Cdr scdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-        eprosima::fastcdr::Cdr::DDS_CDR);
-
-    scdr.serialize_encapsulation();
-    if (callbacks_->cdr_serialize(data, scdr))
-    {
-        payload->encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
-            CDR_BE : CDR_LE;
-        payload->length = static_cast<uint32_t>(scdr.getSerializedDataLength());
-        return true;
-    }
-    else
-    {
-        return false;
-    }
-}
-
-bool MicrorosGraphInfoTypeSupport::deserialize(
-        eprosima::fastrtps::rtps::SerializedPayload_t * payload,
-        void * data)
-{
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
-        payload->length);
-    eprosima::fastcdr::Cdr dcdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-        eprosima::fastcdr::Cdr::DDS_CDR);
-
-    dcdr.read_encapsulation();
-    return callbacks_->cdr_deserialize(dcdr, data);
-}
-
-std::function<uint32_t()> MicrorosGraphInfoTypeSupport::getSerializedSizeProvider(
-        void * data)
-{
-    return [data, this]() -> uint32_t
-    {
-        return static_cast<uint32_t>(4 + callbacks_->get_serialized_size(data));
-    };
-}
-
-void * MicrorosGraphInfoTypeSupport::createData()
-{
-    return static_cast<void *>(nullptr);
-}
-
-void MicrorosGraphInfoTypeSupport::deleteData(
-        void * data)
-{
-    (void) data;
-}
-
-bool MicrorosGraphInfoTypeSupport::getKey(
-        void * data,
-        eprosima::fastrtps::rtps::InstanceHandle_t * handle,
-        bool force_md5)
-{
-    (void) data;
-    (void) handle;
-    (void) force_md5;
-    return m_isGetKeyDefined;
-}
-
-}  // namespace graph_manager
-}  // namespace agent
-}  // namespace uros
-
-#endif  // UROS_AGENT_GRAPH_PARTICIPANTS_TYPESUPPORT_CPP_

micro_ros_agent/src/agent/utils/demangle.cpp

@@ -1,191 +0,0 @@
-// Copyright 2020 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.
-
-#ifndef UROS_AGENT_UTILS_DEMANGLE_CPP_
-#define UROS_AGENT_UTILS_DEMANGLE_CPP_
-
-#include <algorithm>
-#include <string>
-#include <vector>
-
-#include <rcpputils/find_and_replace.hpp>
-#include <rcutils/logging_macros.h>
-#include <rcutils/types.h>
-
-#include <rmw_fastrtps_shared_cpp/namespace_prefix.hpp>
-
-#include <agent/utils/demangle.hpp>
-
-namespace uros {
-namespace agent {
-namespace utils {
-
-std::string Demangle::demangle_if_ros_topic(
-        const std::string& topic_name)
-{
-    return _strip_ros_prefix_if_exists(topic_name);
-}
-
-std::string Demangle::demangle_if_ros_type(
-        const std::string& dds_type_string)
-{
-    if ('_' != dds_type_string[dds_type_string.size() - 1])
-    {
-        // not a ROS type
-        return dds_type_string;
-    }
-
-    const std::string dds_prefix("dds_::");
-    size_t dds_prefix_pos = dds_type_string.find(dds_prefix);
-    if (std::string::npos == dds_prefix_pos)
-    {
-        // not a ROS type
-        return dds_type_string;
-    }
-
-    std::string type_namespace = dds_type_string.substr(0, dds_prefix_pos);
-    type_namespace = rcpputils::find_and_replace(type_namespace, "::", "/");
-    size_t start = dds_prefix_pos + dds_prefix.size();
-    const std::string type_name =
-        dds_type_string.substr(start, dds_type_string.length() - start - 1);
-    return type_namespace + type_name;
-}
-
-std::string Demangle::demangle_ros_topic_from_topic(
-        const std::string& topic_name)
-{
-    return _resolve_prefix(topic_name, ros_topic_prefix);
-}
-
-std::string Demangle::_demangle_service_from_topic(
-        const std::string& prefix,
-        const std::string& topic_name,
-        const std::string& suffix)
-{
-    const std::string service_name = _resolve_prefix(topic_name, prefix);
-    if (service_name.empty())
-    {
-        return std::string();
-    }
-
-    size_t suffix_position = service_name.rfind(suffix);
-    if (std::string::npos == suffix_position)
-    {
-        RCUTILS_LOG_WARN_NAMED(
-            "rmw_fastrtps_shared_cpp",
-            "service topic has prefix but no suffix; report this: '%s'",
-            topic_name.c_str());
-        return std::string();
-    }
-    else
-    {
-        if (0 != (service_name.length() - suffix_position - suffix.length()))
-        {
-            RCUTILS_LOG_WARN_NAMED(
-                "rmw_fastrtps_shared_cpp",
-                "service topic has service prefix and a suffix"
-                ", but not at the end; report this: '%s'",
-                topic_name.c_str());
-            return std::string();
-        }
-    }
-    return service_name.substr(0, suffix_position);
-}
-
-std::string Demangle::demangle_service_from_topic(
-        const std::string& topic_name)
-{
-    const std::string demangled_topic = demangle_service_reply_from_topic(topic_name);
-
-    if (!demangled_topic.empty())
-    {
-        return demangled_topic;
-    }
-    return demangle_service_request_from_topic(topic_name);
-}
-
-std::string Demangle::demangle_service_request_from_topic(
-        const std::string& topic_name)
-{
-    return _demangle_service_from_topic(ros_service_requester_prefix, topic_name, "Request");
-}
-
-std::string Demangle::demangle_service_reply_from_topic(
-        const std::string& topic_name)
-{
-    return _demangle_service_from_topic(ros_service_response_prefix, topic_name, "Reply");
-}
-
-std::string Demangle::demangle_service_type_only(
-        const std::string& dds_type_name)
-{
-    const std::string dds_prefix("dds_::");
-    auto suffixes = {std::string("_Response_"), std::string("_Request_")};
-    size_t dds_prefix_pos = dds_type_name.find(dds_prefix);
-
-    // Perform checks
-    if (std::string::npos == dds_prefix_pos)
-    {
-        // not a ROS service type
-        return std::string();
-    }
-
-    size_t suffix_position = std::string::npos;
-    for (const auto& suffix : suffixes)
-    {
-        suffix_position = dds_type_name.rfind(suffix);
-        if (std::string::npos != suffix_position)
-        {
-            if (0 != (dds_type_name.length() - suffix_position - suffix.length()))
-            {
-                RCUTILS_LOG_WARN_NAMED(
-                    "rmw_fastrtps_shared_cpp",
-                    "service type contains 'dds_::' and a suffix"
-                    ", but not at the end; repor this: '%s'",
-                    dds_type_name.c_str());
-                continue;
-            }
-            break;
-        }
-    }
-    if (std::string::npos == suffix_position)
-    {
-        RCUTILS_LOG_WARN_NAMED(
-            "rmw_fastrtps_shared_cpp",
-            "service type contains 'dds_::' but"
-            " does not have a suffix; report this: '%s'",
-            dds_type_name.c_str());
-        return std::string();
-    }
-
-    // Everything is OK. Reformat it from '[type_namespace::]dds_::<type><suffix>'
-    // to '[type_namespace/]<type>'
-    std::string type_namespace = dds_type_name.substr(0, dds_prefix_pos);
-    type_namespace = rcpputils::find_and_replace(type_namespace, "::", "/");
-    size_t start = dds_prefix_pos + dds_prefix.length();
-    const std::string type_name = dds_type_name.substr(start, suffix_position - start);
-    return type_namespace + type_name;
-}
-
-std::string Demangle::identity_demangle(
-        const std::string& name)
-{
-    return name;
-}
-
-}  // namespace utils
-}  // namespace agent
-}  // namespace uros
-
-#endif  // UROS_AGENT_UTILS_DEMANGLE_CPP_

micro_ros_agent/src/main.cpp

@@ -12,82 +12,76 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <agent/Agent.hpp>
+#include <uxr/agent/utils/CLI.hpp>
-
+#include <csignal>
-#include <string>
-#include <vector>
 
 int main(int argc, char** argv)
 {
-    uros::agent::Agent micro_ros_agent;
+#ifndef _WIN32
-
+    sigset_t signals;
-    /** Bypass '--ros-args' flag, as we use our own CLI parser.
+    sigemptyset(&signals);
-      * As a workaround for launch files, arguments will be passed from
+    if(sigaddset(&signals, SIGINT) && sigaddset(&signals, SIGTERM))
-      * ros2launch as a single token with spaces,
-      * to preserve the correct argument order; split it here.
-      * TODO(jamoralp): investigate ROS2 tools for properly parsing params from launch
-      **/
-    std::vector<std::string> params;
-    for (int i = 0; i < argc; ++i)
     {
-        if(strcmp("--ros-args", argv[i]) == 0)
+        std::cerr << "Wrong signalset" << std::endl;
+        std::exit(EXIT_FAILURE);
+    }
+    sigprocmask( SIG_BLOCK, &signals, nullptr );
+#endif
+
+
+    /* CLI application. */
+    CLI::App app("micro-ROS Agent");
+    app.require_subcommand(1, 1);
+    app.get_formatter()->column_width(42);
+
+    /* CLI subcommands. */
+    eprosima::uxr::cli::UDPv4Subcommand udpv4_subcommand(app);
+    eprosima::uxr::cli::UDPv6Subcommand udpv6_subcommand(app);
+    eprosima::uxr::cli::TCPv4Subcommand tcpv4_subcommand(app);
+    eprosima::uxr::cli::TCPv6Subcommand tcpv6_subcommand(app);
+#if !defined(_WIN32) && !defined(__VXWORKS__)
+    eprosima::uxr::cli::TermiosSubcommand serial_subcommand(app);
+    eprosima::uxr::cli::PseudoTerminalSubcommand pseudo_serial_subcommand(app);
+#endif
+    eprosima::uxr::cli::ExitSubcommand exit_subcommand(app);
+
+    /* CLI parse. */
+    std::string cli_input{};
+    for (int i = 1; i < argc; ++i)
+    {
+        cli_input.append(argv[i]);
+        cli_input.append(" ");
+    }
+
+    while (true)
+    {
+        try
         {
-            argc = i;
+            app.parse(cli_input);
             break;
         }
-        params.emplace_back(std::string(argv[i]));
+        catch (const CLI::ParseError& e)
+        {
+            app.exit(e);
+            std::cin.clear();
+            std::cout << std::endl;
+            std::cout << "Enter command: ";
+            std::getline(std::cin, cli_input);
+        }
     }
 
-    auto it = std::find(params.begin(), params.end(), "--ros-args");
+#ifdef  _WIN32
-    if (params.end() != it)
+    /* Waiting until exit. */
+    std::cin.clear();
+    char exit_flag = 0;
+    while ('q' != exit_flag)
     {
-        if ((it - params.begin()) != 2)
+        std::cin >> exit_flag;
-        {
-            std::ostringstream ss;
-            ss << "Error: when using ros2 launch, please specify ";
-            ss << "your arguments in a single variable." << std::endl;
-            ss << "Instead of 'arguments: {'udp4', '-p', '8888'}', do ";
-            ss << "'arguments: {'udp4 -p 8888'}" << std::endl;
-
-            std::cerr << ss.str();
-            return 1;
-        }
-        const std::string& agent_args(params.at(1));
-        std::istringstream iss(agent_args);
-        std::vector<std::string> agent_args_split(
-            std::istream_iterator<std::string>{iss},
-            std::istream_iterator<std::string>());
-
-        char** agent_argv = new char*[agent_args_split.size() + 1];
-        agent_argv[0] = argv[0];
-        char** agent_argv_it = &agent_argv[1];
-
-        for (const auto& arg : agent_args_split)
-        {
-            *agent_argv_it = new char[arg.length() + 1];
-            strcpy(*agent_argv_it, arg.c_str());
-            agent_argv_it++;
-        }
-
-        bool success = micro_ros_agent.create(agent_args_split.size() + 1, agent_argv);
-
-        for (size_t i = 1; i <= agent_args_split.size(); ++i)
-        {
-            delete [] agent_argv[i];
-        }
-        delete [] agent_argv;
-
-        if (!success)
-        {
-            return 1;
-        }
     }
-    else if (!micro_ros_agent.create(argc, argv))
+#else
-    {
+    /* Wait for SIGTERM/SIGINT instead, as reading from stdin may be redirected to /dev/null. */
-        return 1;
+    int n_signal = 0;
-    }
+    sigwait(&signals, &n_signal);
-
+#endif
-    micro_ros_agent.run();
-
     return 0;
-}
+}

snap/hooks/configure

@@ -1,104 +0,0 @@
-#!/bin/sh -e
-
-# Confirm that the transport is valid
-transport="$(snapctl get transport)"
-case "$transport" in
-	udp4) ;;
-	udp6) ;;
-	tcp4) ;;
-	tcp6) ;;
-	serial) ;;
-	pseudoterminal) ;;
-	*)
-		echo "'$transport' is not a supported transport" >&2
-		return 1
-		;;
-esac
-
-# Confirm that the middleware is valid
-middleware="$(snapctl get middleware)"
-case "$middleware" in
-	dds) ;;
-	rtps) ;;
-	ced) ;;
-	*)
-		echo "'$middleware' is not a supported middleware" >&2
-		return 1
-		;;
-esac
-
-if [ "$transport" = "serial" ] || [ "$transport" = "pseudoterminal" ]; then
-	# A serial transport if being used, which requires a valid baud rate
-	# as well as a valid device
-	baudrate="$(snapctl get baudrate)"
-	if ! expr "$baudrate" : '^[0-9]\+$' > /dev/null; then
-		echo "'$baudrate' is not a valid baud rate" >&2
-		return 1
-	fi
-
-	device="$(snapctl get device)"
-	if [ -z "$device" ]; then
-		echo "Device must be specified" >&2
-		return 1
-	fi
-else
-	port="$(snapctl get port)"
-	if ! expr "$port" : '^[0-9]\+$' > /dev/null; then
-		echo "'$port' is not a valid port" >&2
-		return 1
-	fi
-fi
-
-# Confirm that discovery is a boolean
-discovery="$(snapctl get discovery)"
-case "$discovery" in
-	true)
-		# Confirm that discovery port is valid
-		port="$(snapctl get discovery-port)"
-		if ! expr "$port" : '^[0-9]\+$' > /dev/null; then
-			echo "'$port' is not a valid discovery port" >&2
-			return 1
-		fi
-		;;
-	false) ;;
-	*)
-		echo "'$discovery' is not a valid boolean for discovery" >&2
-		return 1
-		;;
-esac
-
-# Confirm that the verbosity is valid
-verbosity="$(snapctl get verbosity)"
-if ! expr "$verbosity" : '^[0-6]$' > /dev/null; then
-	echo "'$verbosity' is not a valid verbosity" >&2
-	return 1
-fi
-
-# Confirm that p2p port is valid (assuming it's set)
-p2p_port="$(snapctl get p2p-port)"
-if [ -n "$p2p_port" ]; then
-	port="$(snapctl get p2p-port)"
-	if ! expr "$port" : '^[0-9]\+$' > /dev/null; then
-		echo "'$port' is not a valid p2p port" >&2
-		return 1
-	fi
-fi
-
-# Confirm that daemon is a boolean, and enable the service if true
-daemon="$(snapctl get daemon)"
-case "$daemon" in
-	true)
-		snapctl start --enable "$SNAP_INSTANCE_NAME.daemon"
-
-		# In case it was alraedy started and the configuration changed,
-		# restart the service
-		snapctl restart "$SNAP_INSTANCE_NAME.daemon"
-		;;
-	false)
-		snapctl stop --disable "$SNAP_INSTANCE_NAME.daemon"
-		;;
-	*)
-		echo "'$daemon' is not a valid boolean for daemon" >&2
-		return 1
-		;;
-esac

snap/hooks/install

@@ -1,19 +0,0 @@
-#!/bin/sh -e
-
-# Set default configuration values
-snapctl set transport=udp4
-snapctl set middleware=dds
-snapctl set verbosity=4
-snapctl set discovery=false
-snapctl set discovery-port=7400
-snapctl set p2p-port!  # unset
-
-# Network-specific things
-snapctl set port=8888
-
-# Serial-specific things
-snapctl set baudrate=115200
-snapctl set device!  # unset
-
-# By default the daemon is disabled
-snapctl set daemon=false

snap/local/micro-ros-agent-daemon

@@ -1,27 +0,0 @@
-#!/bin/sh -e
-
-set -- --middleware "$(snapctl get middleware)" "$@"
-set -- --verbose "$(snapctl get verbosity)" "$@"
-
-transport="$(snapctl get transport)"
-if [ "$transport" = "serial" ] || [ "$transport" = "pseudoterminal" ]; then
-	set -- --dev "$(snapctl get device)" "$@"
-else
-	set -- --port "$(snapctl get port)" "$@"
-fi
-
-if [ "$(snapctl get discovery)" = "true" ]; then
-	set -- --discovery "$@"
-
-	discovery_port="$(snapctl get discovery-port)"
-	if [ -n "$discovery_port" ]; then
-		set -- --disport "$discovery_port" "$@"
-	fi
-fi
-
-p2p_port="$(snapctl get p2p-port)"
-if [ -n "$p2p_port" ]; then
-	set -- --p2p "$p2p_port" "$@"
-fi
-
-exec "$SNAP/lib/micro_ros_agent/micro_ros_agent" "$transport" "$@"

snap/snapcraft.yaml

@@ -1,168 +0,0 @@
-name: micro-ros-agent
-base: core20
-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
-  requests performed on the microcontroller side, and uses them
-  to communicate with the ROS 2 dataspace.
-
-  Being an extension of the Micro XRCE-DDS Agent, the micro-ROS
-  agent supports being run by the user like this:
-
-      $ micro-ros-agent --help
-
-  In addition, the Agent supports running as a service that can be
-  enabled with:
-
-      $ snap set micro-ros-agent daemon=true
-
-  If the service is enabled, by default it uses the `udp4` transport on
-  port 8888. The following parameters can be changed (these are
-  specific to the service, the `micro-ros-agent` command simply
-  takes command-line arguments, but the capabilities are the same):
-
-  * `transport`. Supported transports are `udp4`, `udp6`, `tcp4`,
-    `tcp6`, `serial`, and `pseudoterminal`. Default is `udp4`. Change
-    with:
-
-        $ snap set micro-ros-agent transport="new transport"
-
-  * `middleware`. Supported kinds of middleware are `ced`, `rtps`, and
-    `dds`. Default is `dds`. Change with:
-
-        $ snap set micro-ros-agent middleware="new middleware"
-
-  * `verbosity`. Supported verbosity levels are 0-6, defaulting to 4.
-    Change with:
-
-        $ snap set micro-ros-agent verbosity="selected verbosity"
-
-  * `discovery`. Enable or disable the discovery server. Defaults to
-    "false". Change with:
-
-        $ snap set micro-ros-agent discovery="true or false"
-
-  * `discovery-port`. Port on which the discovery server (see above)
-    listens. Defaults to 7400. Change with:
-
-        $ snap set micro-ros-agent discovery-port="selected port"
-
-  * `p2p-port`. Port to use for the P2P profile. Change with:
-
-        $ snap set micro-ros-agent p2p-port="selected port"
-
-  * `port`. Port on which the agent listens. Only applicable to one of
-    the UDP or TCP transports (see above). Defaults to 8888. Change with:
-
-        $ snap set micro-ros-agent port="selected port"
-
-  * `baudrate`. Baud rate to use when accessing serial ports. Only
-    applicable when using the `serial` or `pseudoterminal` transport.
-    Defaults to 115200. Change with:
-
-        $ snap set micro-ros-agent baudrate="baud rate"
-
-  * `device`. The serial device to use. Only applicable when using the
-    `serial` or `pseudoterminal` transport. Change with:
-
-        $ 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:
-
-  * Refresh your local installation of the snap `core` package:
-
-        $ sudo snap refresh core --edge
-
-  * Enable the hotplug feature and restart the `snapd` daemon:
-
-        $ sudo snap set core experimental.hotplug=true
-        $ sudo systemctl restart snapd
-
-  * After plugging the microcontroller to the serial port, execute
-    the `snap interface serial-port` command. You should see something
-    like this:
-
-          name:    serial-port
-          summary: allows accessing a specific serial port
-          plugs:
-            - micro-ros-agent
-          slots:
-          - snapd:cp2102cp2109uartbrid (allows accessing a specific serial port)
-
-  * Connect your snap image to the desired serial port (replace accordingly):
-
-        $ snap connect micro-ros-agent:serial-port snapd:cp2102cp2109uartbrid
-
-  After this, you can execute your snap as usual,
-  using `sudo micro-ros-agent serial -d <serial-dev>`.
-
-grade: stable
-confinement: strict
-
-architectures:
-  - build-on: amd64
-  - build-on: arm64
-  - build-on: armhf
-  - build-on: ppc64el
-
-parts:
-
-  uros-agent:
-    plugin: colcon
-    source: .
-    override-build: |
-        set +u
-        git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git -b $ROS_DISTRO
-        git clone https://github.com/eProsima/Micro-CDR.git -b $ROS_DISTRO
-        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
-        git clone https://github.com/micro-ROS/rmw-microxrcedds.git -b $ROS_DISTRO
-        git clone https://github.com/micro-ROS/micro-ROS-Agent.git -b $ROS_DISTRO
-        . /opt/ros/$ROS_DISTRO/setup.sh
-        colcon build --merge-install --install-base $SNAPCRAFT_PRIME --cmake-args "-DUAGENT_BUILD_EXECUTABLE=OFF -DUAGENT_USE_SYSTEM_FASTDDS=ON" --packages-up-to micro_ros_agent
-        set -u
-    build-packages: [make, gcc, g++]
-    stage-packages: [ros-foxy-ros2launch]
-
-  runner:
-    plugin: dump
-    source: snap/local/
-    organize:
-      '*': usr/bin/
-
-plugs:
-  micro-ros-agent-shm-netplug:
-    interface: system-files
-    allow-auto-connection: true
-    write:
-      - /dev/shm
-
-apps:
-  micro-ros-agent:
-    command: lib/micro_ros_agent/micro_ros_agent
-    environment:
-        LD_LIBRARY_PATH: "$LD_LIBRARY_PATH:$SNAP/lib"
-    plugs: [network, network-bind, serial-port, micro-ros-agent-shm-netplug]
-    extensions: [ros2-foxy]
-
-  daemon:
-    command: usr/bin/micro-ros-agent-daemon
-    environment:
-        LD_LIBRARY_PATH: "$LD_LIBRARY_PATH:$SNAP/lib"
-    daemon: simple
-    plugs: [network, network-bind, serial-port, micro-ros-agent-shm-netplug]