Revert "Fix 'microxrcedds_agent' name and dependency (backport #279) (#282)" (#285)

This reverts commit 8a667600dc.

.github/workflows/ci.yml

@@ -22,8 +22,8 @@ jobs:
       container:
         image: ubuntu:jammy
       steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
-      - uses: ros-tooling/setup-ros@0.3.2
+      - uses: ros-tooling/setup-ros@0.7.13
         with:
           use-ros2-testing: false
           required-ros-distributions: ${{ matrix.ros_distribution }}
@@ -31,7 +31,7 @@ jobs:
         run: |
           apt-get install ros-${{ 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
+      - uses : ros-tooling/action-ros-ci@0.4.3
         with:
           package-name: "micro_ros_agent"
           target-ros2-distro: ${{ matrix.ros_distribution }}

micro_ros_agent/CHANGELOG.rst

@@ -2,6 +2,18 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.0.6 (2024-01-29)
+------------------
+* Fix thread include (backport `#216 <https://github.com/micro-ROS/micro-ROS-Agent/issues/216>`_) (`#217 <https://github.com/micro-ROS/micro-ROS-Agent/issues/217>`_)
+
+3.0.5 (2023-06-06)
+------------------
+
+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>`_)

micro_ros_agent/cmake/SuperBuild.cmake

@@ -26,7 +26,7 @@ if(NOT xrceagent_FOUND)
             GIT_REPOSITORY
                 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
             GIT_TAG
-                ros2
+                v2.4.2
             PREFIX
                 ${PROJECT_BINARY_DIR}/agent
             INSTALL_DIR

micro_ros_agent/include/agent/graph_manager/graph_manager.hpp

@@ -65,6 +65,7 @@
 #include <string>
 #include <memory>
 #include <map>
+#include <thread>
 
 namespace uros {
 namespace agent {
@@ -305,7 +306,7 @@ 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

@@ -2,10 +2,10 @@
 <?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>3.0.3</version>
+  <version>3.0.6</version>
   <description>micro-ROS Agent package</description>
-  <maintainer email="pablogarrido@eprosima.com">Pablo Garrido</maintainer>
+  <maintainer email="eugeniocollado@eprosima.com">Eugenio Collado</maintainer>
-  <maintainer email="antoniocuadros@eprosima.com">Antonio Cuadros</maintainer>
+  <maintainer email="davidlaseca@eprosima.com">David Laseca</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>

micro_ros_agent/src/agent/graph_manager/graph_manager.cpp

@@ -125,9 +125,11 @@ 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;
+        }
         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;
+            eprosima::fastdds::dds::DataWriter * datawriter = publisher_->create_datawriter(ros_discovery_topic_.get(), datawriter_qos_);
-            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;
+                std::make_pair(participant, datawriter)).first;
         }
 
         it->second->write(static_cast<void *>(&info));
@@ -344,9 +345,10 @@ 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);
     }
+}
 
 void GraphManager::add_datawriter(
         const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,