4.0.1

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

.github/workflows/ci.yml

@@ -3,36 +3,35 @@ name: CI micro-ROS Agent
 on:
     pull_request:
       branches:
-        - '**'
+        - 'main'
+    schedule:
+      - cron: '33 6 * * *'
 
 jobs:
 
     microros_agent_ci:
-        runs-on: ubuntu-20.04
+      runs-on: ${{ matrix.os }}
-        container: microros/base:rolling
+      strategy:
-
+        fail-fast: false
-        steps:
+        matrix:
-        - uses: actions/checkout@v2
+          os: [ ubuntu-20.04 ]
-          with:
+          ros_distribution: [ rolling ]
-            path: urosagent
+          include:
-
+            - docker_image: ubuntu:22.04
-        - name: Download dependencies
+              ros_distribution: rolling
-          run: |
+      container:
-            apt update
+        image: ubuntu:22.04
-            cd /uros_ws
+      steps:
-            . /opt/ros/$ROS_DISTRO/setup.sh
+      - uses: actions/checkout@v2
-            . install/local_setup.sh
+      - uses: ros-tooling/setup-ros@0.3.2
-            rosdep update --rosdistro=$ROS_DISTRO
+        with:
-            ros2 run micro_ros_setup create_agent_ws.sh
+          use-ros2-testing: false
-
+          required-ros-distributions: ${{ matrix.ros_distribution }}
-        - name: Patch branch
+      - name : Download and install dependencies
-          run: |
+        run: |
-            rm -rf /uros_ws/src/uros/micro-ROS-Agent/*
+          apt-get install ros-${{ matrix.ros_distribution }}-micro-ros-msgs
-            cp -R urosagent/* /uros_ws/src/uros/micro-ROS-Agent/
+          apt-get install ros-${{ matrix.ros_distribution }}-rmw-fastrtps-cpp
-
+      - uses : ros-tooling/action-ros-ci@0.2.5
-        - name: Build
+        with:
-          run:  |
+          package-name: "micro_ros_agent"
-            cd /uros_ws
+          target-ros2-distro: ${{ matrix.ros_distribution }}
-            . /opt/ros/$ROS_DISTRO/setup.sh
-            . install/local_setup.sh
-            ros2 run micro_ros_setup build_agent.sh

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 +2,13 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.1 (2022-06-13)
+------------------
+* Fix memory leak in graph manager (`#147 <https://github.com/micro-ROS/micro-ROS-Agent/issues/147>`_) (`#148 <https://github.com/micro-ROS/micro-ROS-Agent/issues/148>`_)
+
+4.0.0 (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>`_)

micro_ros_agent/include/agent/graph_manager/graph_manager.hpp

@@ -111,6 +111,12 @@ public:
         const eprosima::fastdds::dds::DomainParticipant* participant,
         bool from_microros = true);
 
+    /**
+     * @brief   Getter for the graph cache.
+     * @return  Reference to inner graph cache
+     */
+    rmw_dds_common::GraphCache& get_graph_cache() { return graphCache_; }
+
     /**
      * @brief   Adds a DDS datawriter to the graph tree.
      * @param   datawriter_guid rtps::GUID_t of the datawriter to be added.

micro_ros_agent/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>micro_ros_agent</name>
-  <version>3.0.1</version>
+  <version>4.0.1</version>
   <description>micro-ROS Agent package</description>
   <maintainer email="pablogarrido@eprosima.com">Pablo Garrido</maintainer>
   <maintainer email="antoniocuadros@eprosima.com">Antonio Cuadros</maintainer>

micro_ros_agent/src/agent/graph_manager/graph_manager.cpp

@@ -597,7 +597,7 @@ GraphManager::ParticipantListener::ParticipantListener(
 }
 
 void GraphManager::ParticipantListener::on_participant_discovery(
-        eprosima::fastdds::dds::DomainParticipant* participant,
+        eprosima::fastdds::dds::DomainParticipant* /* participant */,
         eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info)
 {
     switch (info.status)
@@ -614,13 +614,15 @@ void GraphManager::ParticipantListener::on_participant_discovery(
             const std::string enclave =
                 std::string(name_found->second.begin(), name_found->second.end());
 
-            graphManager_from_->add_participant(participant, false, enclave);
+            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:
         {
-            graphManager_from_->remove_participant(participant, false);
+            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: