3.0.4

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

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

micro_ros_agent/CHANGELOG.rst

@@ -2,6 +2,15 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.0.4 (2022-09-28)
+------------------
+* Fix Datawriter destruction (`#169 <https://github.com/micro-ROS/micro-ROS-Agent/issues/169>`_)
+* Synchronise predicate (`#160 <https://github.com/micro-ROS/micro-ROS-Agent/issues/160>`_)
+
+3.0.3 (2022-06-13)
+------------------
+* Fix memory leak in graph manager (`#147 <https://github.com/micro-ROS/micro-ROS-Agent/issues/147>`_)
+
 3.0.2 (2022-05-25)
 ------------------
 

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.
@@ -299,7 +305,7 @@ private:
     // 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>
+        eprosima::fastdds::dds::DataWriter*
     > micro_ros_graph_datawriters_;
 };
 

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>3.0.2</version>
+  <version>3.0.4</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

@@ -126,8 +126,10 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
     // 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;
+        {
+            std::unique_lock<std::mutex> lock(this->mtx_);
+            this->graph_changed_ = true;
+        }
         this->cv_.notify_one();
     });
 
@@ -144,6 +146,7 @@ inline void GraphManager::publish_microros_graph()
             {
                 return this->graph_changed_;
             });
+            graph_changed_ = false;
         }
 
         if (display_on_change_)
@@ -151,7 +154,6 @@ inline void GraphManager::publish_microros_graph()
             std::cout << "Updated uros Graph: graph changed" << std::endl;
             std::cout << graphCache_ << std::endl;
         }
-        graph_changed_ = false;
 
         micro_ros_msgs::msg::Graph graph_message;
 
@@ -320,11 +322,10 @@ void GraphManager::add_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_));
+            eprosima::fastdds::dds::DataWriter * datawriter = publisher_->create_datawriter(ros_discovery_topic_.get(), datawriter_qos_);
 
             it = micro_ros_graph_datawriters_.insert(
-                std::make_pair(participant, std::move(datawriter))).first;
+                std::make_pair(participant, datawriter)).first;
         }
 
         it->second->write(static_cast<void *>(&info));
@@ -344,8 +345,9 @@ void GraphManager::remove_participant(
         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));
+        publisher_->delete_datawriter(it->second);
+        micro_ros_graph_datawriters_.erase(participant);
     }
-    micro_ros_graph_datawriters_.erase(participant);
 }
 
 void GraphManager::add_datawriter(
@@ -597,7 +599,7 @@ 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 +616,15 @@ 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:

snap/local/fastdds_no_shared_memory.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+    <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
+        <transport_descriptors>
+            <transport_descriptor>
+                <transport_id>CustomUdpTransport</transport_id>
+                <type>UDPv4</type>
+            </transport_descriptor>
+        </transport_descriptors>
+
+        <participant profile_name="participant_profile" is_default_profile="true">
+            <rtps>
+                <userTransports>
+                    <transport_id>CustomUdpTransport</transport_id>
+                </userTransports>
+
+                <useBuiltinTransports>false</useBuiltinTransports>
+            </rtps>
+        </participant>
+    </profiles>

snap/local/micro-ros-agent-daemon

@@ -24,4 +24,4 @@ if [ -n "$p2p_port" ]; then
 	set -- --p2p "$p2p_port" "$@"
 fi
 
-exec "$SNAP/lib/micro_ros_agent/micro_ros_agent" "$transport" "$@"
+exec "$SNAP/opt/ros/snap/lib/micro_ros_agent/micro_ros_agent" "$transport" "$@"

snap/snapcraft.yaml

@@ -71,16 +71,6 @@ description: |
 
         $ 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:
 
@@ -120,49 +110,59 @@ architectures:
   - build-on: armhf
   - build-on: ppc64el
 
+package-repositories:
+- components: [main]
+  formats: [deb]
+  key-id: C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+  key-server: keyserver.ubuntu.com
+  suites: [focal]
+  type: apt
+  url: http://repo.ros2.org/ubuntu/main
+
 parts:
+  ros2-foxy-extension:
+    build-packages: [ros-foxy-ros-core]
+    override-build: install -D -m 0755 launch ${SNAPCRAFT_PART_INSTALL}/snap/command-chain/ros2-launch
+    plugin: nil
+    source: $SNAPCRAFT_EXTENSIONS_DIR/ros2
 
   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 $SNAPCRAFT_PRIME --cmake-args "-DUAGENT_BUILD_EXECUTABLE=OFF -DUAGENT_USE_SYSTEM_FASTDDS=ON" --packages-up-to micro_ros_agent
-        set -u
+    colcon-cmake-args:
+      - -DMICROROSAGENT_SUPERBUILD=ON
+      - --cmake-force-configure
+    override-pull: |
+        snapcraftctl pull
+
+        version="$(git describe --always --tags| sed -e 's/^v//;s/-/+git/;y/-/./')"
+        [ -n "$(echo $version | grep "+git")" ] && grade=devel || grade=stable
+        snapcraftctl set-version "$version"
+        snapcraftctl set-grade "$grade"
+
     build-packages: [make, gcc, g++]
     stage-packages: [ros-foxy-ros2launch]
+    build-environment:
+    - ROS_VERSION: '2'
+    - ROS_DISTRO: foxy
 
   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
+      'micro-ros-agent-daemon': usr/bin/
+      'fastdds_no_shared_memory.xml': usr/share/
 
 apps:
   micro-ros-agent:
-    command: lib/micro_ros_agent/micro_ros_agent
+    command: opt/ros/snap/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]
+        FASTRTPS_DEFAULT_PROFILES_FILE: ${SNAP}/usr/share/fastdds_no_shared_memory.xml
+    plugs: [network, network-bind, serial-port]
 
   daemon:
     command: usr/bin/micro-ros-agent-daemon
     environment:
-        LD_LIBRARY_PATH: "$LD_LIBRARY_PATH:$SNAP/lib"
+        FASTRTPS_DEFAULT_PROFILES_FILE: ${SNAP}/usr/share/fastdds_no_shared_memory.xml
     daemon: simple
-    plugs: [network, network-bind, serial-port, micro-ros-agent-shm-netplug]
+    plugs: [network, network-bind, serial-port]