Initial PoC

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

.github/workflows/ci.yml

@@ -2,37 +2,36 @@ name: CI micro-ROS Agent
 
 on:
     pull_request:
-      branches: 
-        - '**'
+      branches:
+        - 'humble'
+    schedule:
+      - cron: '33 6 * * *'
 
 jobs:
 
     microros_agent_ci:
-        runs-on: ubuntu-20.04
-        container: microros/base:rolling
-
-        steps:
-        - uses: actions/checkout@v2
-          with:
-            path: urosagent
-
-        - name: Download dependencies
-          run: |
-            apt update
-            cd /uros_ws
-            . /opt/ros/$ROS_DISTRO/setup.sh
-            . install/local_setup.sh
-            rosdep update
-            ros2 run micro_ros_setup create_agent_ws.sh 
-        
-        - name: Patch branch
-          run: |
-            rm -rf /uros_ws/src/uros/micro-ROS-Agent/*
-            cp -R urosagent/* /uros_ws/src/uros/micro-ROS-Agent/
-
-        - name: Build
-          run:  |
-            cd /uros_ws
-            . /opt/ros/$ROS_DISTRO/setup.sh
-            . install/local_setup.sh
-            ros2 run micro_ros_setup build_agent.sh 
+      runs-on: ubuntu-latest
+      strategy:
+        fail-fast: false
+        matrix:
+          os: [ ubuntu-20.04 ]
+          ros_distribution: [ humble ]
+          include:
+            - docker_image: ubuntu:jammy
+              ros_distribution: humble
+      container:
+        image: ubuntu:jammy
+      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 }}

README.md

@@ -55,3 +55,4 @@ see the file [3rd-party-licenses.txt](3rd-party-licenses.txt).
 Please notice the following issues/limitations:
 
 * There is an unknown issue when dealing with serial ports shared with the micro-ROS agent running inside a Docker. Sometimes it works with a remarkable packet loss.
+* There is an known issues with serial port communication on micro-ros-agent snap version. It is recommended to use the dockerized version or build it from source.

micro_ros_agent/CHANGELOG.rst

@@ -2,6 +2,18 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.0.2 (2022-05-25)
+------------------
+
+3.0.1 (2022-03-25)
+------------------
+* Add services to graph manager (`#127 <https://github.com/micro-ROS/micro-ROS-Agent/issues/127>`_) (`#129 <https://github.com/micro-ROS/micro-ROS-Agent/issues/129>`_)
+* Add used missing includes (`#116 <https://github.com/micro-ROS/micro-ROS-Agent/issues/116>`_) (`#124 <https://github.com/micro-ROS/micro-ROS-Agent/issues/124>`_)
+* Add system logger flag (`#118 <https://github.com/micro-ROS/micro-ROS-Agent/issues/118>`_) (`#119 <https://github.com/micro-ROS/micro-ROS-Agent/issues/119>`_)
+* Add condition variable include (`#113 <https://github.com/micro-ROS/micro-ROS-Agent/issues/113>`_) (`#114 <https://github.com/micro-ROS/micro-ROS-Agent/issues/114>`_)
+* pass system name to xrceagent (`#110 <https://github.com/micro-ROS/micro-ROS-Agent/issues/110>`_) (`#112 <https://github.com/micro-ROS/micro-ROS-Agent/issues/112>`_)
+* Fix memory leak in FastDDS datawriter (`#107 <https://github.com/micro-ROS/micro-ROS-Agent/issues/107>`_) (`#109 <https://github.com/micro-ROS/micro-ROS-Agent/issues/109>`_)
+
 3.0.0 (2021-09-13)
 ------------------
 

micro_ros_agent/CMakeLists.txt

@@ -20,6 +20,7 @@ option(UROSAGENT_GENERATE_PROFILE
 set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)
 
 option(MICROROSAGENT_SUPERBUILD "Enable superbuild compilation." ON)
+option(UAGENT_USE_SYSTEM_LOGGER "Force use of system installed spdlog logger on superbuild." OFF)
 
 if(NOT MICROROSAGENT_SUPERBUILD)
     project(micro_ros_agent LANGUAGES CXX)

micro_ros_agent/cmake/SuperBuild.cmake

@@ -42,8 +42,10 @@ if(NOT xrceagent_FOUND)
                 -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR>
                 -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
                 -DCMAKE_PREFIX_PATH:PATH=<INSTALL_DIR>
+                -DCMAKE_SYSTEM_NAME:STRING=${CMAKE_SYSTEM_NAME}
                 -DUAGENT_USE_SYSTEM_FASTDDS:BOOL=ON
                 -DUAGENT_USE_SYSTEM_FASTCDR:BOOL=ON
+                -DUAGENT_USE_SYSTEM_LOGGER:BOOL=${UAGENT_USE_SYSTEM_LOGGER}
                 -DUAGENT_CED_PROFILE:BOOL=OFF
                 -DUAGENT_P2P_PROFILE:BOOL=OFF
                 -DUAGENT_BUILD_EXECUTABLE:BOOL=OFF

micro_ros_agent/include/agent/Agent.hpp

@@ -20,6 +20,10 @@
 #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 {
@@ -42,6 +46,7 @@ private:
 
     eprosima::uxr::AgentInstance& xrce_dds_agent_instance_;
     std::map<eprosima::fastdds::dds::DomainId_t, std::shared_ptr<graph_manager::GraphManager>> graph_manager_map_;
+    std::string namespace_remapping = "";
 
     std::shared_ptr<graph_manager::GraphManager> find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id);
 };

micro_ros_agent/include/agent/graph_manager/graph_manager.hpp

@@ -12,6 +12,9 @@
 // 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"
@@ -58,8 +61,10 @@
 #include <agent/graph_manager/graph_typesupport.hpp>
 #include <agent/utils/demangle.hpp>
 
-#ifndef _UROS_AGENT_GRAPH_MANAGER_HPP
-#define _UROS_AGENT_GRAPH_MANAGER_HPP
+#include <condition_variable>
+#include <string>
+#include <memory>
+#include <map>
 
 namespace uros {
 namespace agent {
@@ -75,7 +80,7 @@ public:
     /**
      * @brief   Default constructor.
      */
-    GraphManager(eprosima::fastdds::dds::DomainId_t domain_id);
+    GraphManager(eprosima::fastdds::dds::DomainId_t domain_id, std::string namespace_remapping);
 
     /**
      * @brief   Default destructor.
@@ -269,6 +274,7 @@ private:
             std::string& node_namespace);
 
     eprosima::fastdds::dds::DomainId_t domain_id_;
+    std::string namespace_remapping_;
     bool graph_changed_;
     bool display_on_change_;
     std::thread microros_graph_publisher_;

micro_ros_agent/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>micro_ros_agent</name>
-  <version>3.0.0</version>
+  <version>3.0.2</version>
   <description>micro-ROS Agent package</description>
   <maintainer email="pablogarrido@eprosima.com">Pablo Garrido</maintainer>
   <maintainer email="antoniocuadros@eprosima.com">Antonio Cuadros</maintainer>

micro_ros_agent/src/agent/Agent.cpp

@@ -17,6 +17,9 @@
 
 #include <agent/Agent.hpp>
 
+#include <utility>
+#include <memory>
+
 namespace uros {
 namespace agent {
 
@@ -30,6 +33,17 @@ bool Agent::create(
         char** argv)
 {
     bool result = xrce_dds_agent_instance_.create(argc, argv);
+
+    // Find namespace remapping
+    for (int i = 0; i < argc; i++)
+    {
+        if (strcmp(argv[i], "--namespace-remapping") == 0 && i + 1 < argc)
+        {
+            namespace_remapping = argv[i + 1];
+            std::cout << "Remapping all entities to namespace " << namespace_remapping << std::endl;
+        }
+    }
+
     if (result)
     {
         /**
@@ -76,14 +90,9 @@ bool Agent::create(
             {
                 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 =
-                    datawriter->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
-                    iHandle2GUID(instance_handle);
-                graph_manager_->add_datawriter(datawriter_guid, participant, datawriter);
+                graph_manager_->add_datawriter(datawriter->guid(), participant, datawriter);
                 graph_manager_->associate_entity(
-                    datawriter_guid, participant, dds::xrce::OBJK_DATAWRITER);
+                    datawriter->guid(), participant, dds::xrce::OBJK_DATAWRITER);
             });
         xrce_dds_agent_instance_.add_middleware_callback(
             eprosima::uxr::Middleware::Kind::FASTDDS,
@@ -103,12 +112,7 @@ bool Agent::create(
 
                 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 =
-                    datawriter->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
-                graph_manager_->remove_datawriter(datawriter_guid);
+                graph_manager_->remove_datawriter(datawriter->guid());
             });
 
         xrce_dds_agent_instance_.add_middleware_callback(
@@ -166,6 +170,128 @@ bool Agent::create(
             eprosima::uxr::Middleware::Kind::FASTDDS,
             eprosima::uxr::middleware::CallbackKind::DELETE_DATAREADER,
             std::move(on_delete_datareader));
+
+        /**
+         * Add CREATE_REQUESTER callback.
+         */
+        std::function<void (
+            const eprosima::fastdds::dds::DomainParticipant *,
+            const eprosima::fastdds::dds::DataWriter *,
+            const eprosima::fastdds::dds::DataReader *)> on_create_requester
+            ([&](
+                const eprosima::fastdds::dds::DomainParticipant* participant,
+                const eprosima::fastdds::dds::DataWriter* datawriter,
+                const eprosima::fastdds::dds::DataReader * datareader) -> void
+            {
+                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
+
+                graph_manager_->add_datawriter(datawriter->guid(), participant, datawriter);
+                graph_manager_->associate_entity(
+                    datawriter->guid(), participant, dds::xrce::OBJK_DATAWRITER);
+
+                // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
+                    datareader->get_instance_handle();
+                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
+                graph_manager_->add_datareader(datareader_guid, participant, datareader);
+                graph_manager_->associate_entity(
+                    datareader_guid, participant, dds::xrce::OBJK_DATAREADER);
+            });
+        xrce_dds_agent_instance_.add_middleware_callback(
+            eprosima::uxr::Middleware::Kind::FASTDDS,
+            eprosima::uxr::middleware::CallbackKind::CREATE_REQUESTER,
+            std::move(on_create_requester));
+
+        /**
+         * Add DELETE_REQUESTER callback.
+         */
+        std::function<void (
+            const eprosima::fastdds::dds::DomainParticipant *,
+            const eprosima::fastdds::dds::DataWriter *,
+            const eprosima::fastdds::dds::DataReader *)> on_delete_requester
+            ([&](
+                const eprosima::fastdds::dds::DomainParticipant* participant,
+                const eprosima::fastdds::dds::DataWriter* datawriter,
+                const eprosima::fastdds::dds::DataReader * datareader) -> void
+            {
+                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
+
+                graph_manager_->remove_datawriter(datawriter->guid());
+
+                // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
+                    datareader->get_instance_handle();
+                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
+                graph_manager_->remove_datareader(datareader_guid);
+            });
+
+        xrce_dds_agent_instance_.add_middleware_callback(
+            eprosima::uxr::Middleware::Kind::FASTDDS,
+            eprosima::uxr::middleware::CallbackKind::DELETE_REQUESTER,
+            std::move(on_delete_requester));
+
+        /**
+         * Add CREATE_REPLIER callback.
+         */
+        std::function<void (
+            const eprosima::fastdds::dds::DomainParticipant *,
+            const eprosima::fastdds::dds::DataWriter *,
+            const eprosima::fastdds::dds::DataReader *)> on_create_replier
+            ([&](
+                const eprosima::fastdds::dds::DomainParticipant* participant,
+                const eprosima::fastdds::dds::DataWriter* datawriter,
+                const eprosima::fastdds::dds::DataReader * datareader) -> void
+            {
+                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
+
+                graph_manager_->add_datawriter(datawriter->guid(), participant, datawriter);
+                graph_manager_->associate_entity(
+                    datawriter->guid(), participant, dds::xrce::OBJK_DATAWRITER);
+
+                // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
+                    datareader->get_instance_handle();
+                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
+                graph_manager_->add_datareader(datareader_guid, participant, datareader);
+                graph_manager_->associate_entity(
+                    datareader_guid, participant, dds::xrce::OBJK_DATAREADER);
+            });
+        xrce_dds_agent_instance_.add_middleware_callback(
+            eprosima::uxr::Middleware::Kind::FASTDDS,
+            eprosima::uxr::middleware::CallbackKind::CREATE_REPLIER,
+            std::move(on_create_replier));
+
+        /**
+         * Add DELETE_REPLIER callback.
+         */
+        std::function<void (
+            const eprosima::fastdds::dds::DomainParticipant *,
+            const eprosima::fastdds::dds::DataWriter *,
+            const eprosima::fastdds::dds::DataReader *)> on_delete_replier
+            ([&](
+                const eprosima::fastdds::dds::DomainParticipant* participant,
+                const eprosima::fastdds::dds::DataWriter* datawriter,
+                const eprosima::fastdds::dds::DataReader * datareader) -> void
+            {
+                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
+
+                graph_manager_->remove_datawriter(datawriter->guid());
+
+                // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
+                    datareader->get_instance_handle();
+                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
+                graph_manager_->remove_datareader(datareader_guid);
+            });
+
+        xrce_dds_agent_instance_.add_middleware_callback(
+            eprosima::uxr::Middleware::Kind::FASTDDS,
+            eprosima::uxr::middleware::CallbackKind::DELETE_REPLIER,
+            std::move(on_delete_replier));
     }
 
     return result;
@@ -178,8 +304,7 @@ void Agent::run()
 
 std::shared_ptr<graph_manager::GraphManager> Agent::find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id)
 {
-
-auto it = graph_manager_map_.find(domain_id);
+    auto it = graph_manager_map_.find(domain_id);
 
     if (it != graph_manager_map_.end()) {
         return it->second;
@@ -187,7 +312,7 @@ auto it = graph_manager_map_.find(domain_id);
         return graph_manager_map_.insert(
             std::make_pair(
                 domain_id,
-                std::make_shared<graph_manager::GraphManager>(domain_id)
+                std::make_shared<graph_manager::GraphManager>(domain_id, namespace_remapping)
             )
         ).first->second;
     }

micro_ros_agent/src/agent/graph_manager/graph_manager.cpp

@@ -17,12 +17,18 @@
 
 #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)
+GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id, std::string namespace_remapping)
     : domain_id_(domain_id)
+    , namespace_remapping_(namespace_remapping)
     , graph_changed_(false)
     , display_on_change_(false)
     , mtx_()
@@ -96,7 +102,7 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
 
     eprosima::fastdds::dds::DataWriterQos ros_to_microros_datawriter_qos_ = datawriter_qos_;
     ros_to_microros_datawriter_qos_.history().kind =
-        eprosima::fastdds::dds::HistoryQosPolicyKind::KEEP_ALL_HISTORY_QOS;
+        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_));
 
@@ -308,6 +314,8 @@ void GraphManager::add_participant(
         std::string isolated_node_name, isolated_namespace;
         get_name_and_namespace(qos.name().to_string(), isolated_node_name, isolated_namespace);
 
+        isolated_namespace = namespace_remapping_ + isolated_namespace;
+
         rmw_dds_common::msg::ParticipantEntitiesInfo info =
             graphCache_.add_node(gid, isolated_node_name, isolated_namespace);
 
@@ -350,7 +358,10 @@ void GraphManager::add_datawriter(
 {
     const std::string& topic_name = datawriter->get_topic()->get_name();
     const std::string& type_name = datawriter->get_topic()->get_type_name();
-    this->add_datawriter(datawriter_guid, topic_name, type_name,
+
+    auto remapped_topic_name = namespace_remapping_ + "/" + topic_name;
+
+    this->add_datawriter(datawriter_guid, remapped_topic_name, type_name,
         participant->guid(), datawriter->get_qos());
 }
 
@@ -367,7 +378,9 @@ void GraphManager::add_datawriter(
         "rmw_fastrtps_cpp", participant_guid);
     const rmw_qos_profile_t qos_profile = fastdds_qos_to_rmw_qos(writer_qos);
 
-    graphCache_.add_entity(datawriter_gid, topic_name,
+     auto remapped_topic_name = namespace_remapping_ + "/" + topic_name;
+
+    graphCache_.add_entity(datawriter_gid, remapped_topic_name,
         type_name, participant_gid, qos_profile, false);
 }
 
@@ -436,6 +449,7 @@ void GraphManager::associate_entity(
         {
             std::string isolated_node_name, isolated_namespace;
             get_name_and_namespace(qos.name().c_str(), isolated_node_name, isolated_namespace);
+            isolated_namespace = namespace_remapping_ + isolated_namespace;
             info = graphCache_.associate_writer(
                 entity_gid, participant_gid, isolated_node_name, isolated_namespace);
             break;
@@ -444,6 +458,7 @@ void GraphManager::associate_entity(
         {
             std::string isolated_node_name, isolated_namespace;
             get_name_and_namespace(qos.name().c_str(), isolated_node_name, isolated_namespace);
+            isolated_namespace = namespace_remapping_ + isolated_namespace;
             info = graphCache_.associate_reader(
                 entity_gid, participant_gid, isolated_node_name, isolated_namespace);
             break;

micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp

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

micro_ros_agent/src/main.cpp

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