4.0.0

Update changelog
Update CI (#138 )
2026-09-06 09:55:15 +02:00 · 2022-05-25 09:10:03 +02:00 · 2022-05-25 09:09:56 +02:00 · 2022-05-23 09:08:43 +02:00
9 changed files with 56 additions and 97 deletions
@@ -3,24 +3,24 @@ name: CI micro-ROS Agent
 on:
    pull_request:
      branches:
-        - 'humble'
+        - 'main'
    schedule:
      - cron: '33 6 * * *'

 jobs:

    microros_agent_ci:
-      runs-on: ubuntu-latest
+      runs-on: ${{ matrix.os }}
      strategy:
        fail-fast: false
        matrix:
          os: [ ubuntu-20.04 ]
-          ros_distribution: [ humble ]
+          ros_distribution: [ rolling ]
          include:
-            - docker_image: ubuntu:jammy
-              ros_distribution: humble
+            - docker_image: ubuntu:22.04
+              ros_distribution: rolling
      container:
-        image: ubuntu:jammy
+        image: ubuntu:22.04
      steps:
      - uses: actions/checkout@v2
      - uses: ros-tooling/setup-ros@0.3.2
@@ -2,19 +2,7 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

-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>`_)
-
-3.0.2 (2022-05-25)
+4.0.0 (2022-05-25)
 ------------------

 3.0.1 (2022-03-25)
@@ -111,12 +111,6 @@ 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.
@@ -305,7 +299,7 @@ private:
    // Store a auxiliary publishers and datawriter for each participant created in micro-ROS
    std::map<
        const eprosima::fastdds::dds::DomainParticipant*,
-        eprosima::fastdds::dds::DataWriter*
+        std::unique_ptr<eprosima::fastdds::dds::DataWriter>
    > micro_ros_graph_datawriters_;
 };

@@ -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>3.0.5</version>
+  <version>4.0.0</version>
  <description>micro-ROS Agent package</description>
  <maintainer email="pablogarrido@eprosima.com">Pablo Garrido</maintainer>
  <maintainer email="antoniocuadros@eprosima.com">Antonio Cuadros</maintainer>
@@ -126,10 +126,8 @@ 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();
    });

@@ -146,7 +144,6 @@ inline void GraphManager::publish_microros_graph()
            {
                return this->graph_changed_;
            });
-            graph_changed_ = false;
        }

        if (display_on_change_)
@@ -154,6 +151,7 @@ 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;

@@ -322,10 +320,11 @@ void GraphManager::add_participant(
        if (it == micro_ros_graph_datawriters_.end())
        {
            // Create datawriter
-            eprosima::fastdds::dds::DataWriter * datawriter = publisher_->create_datawriter(ros_discovery_topic_.get(), datawriter_qos_);
+            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, datawriter)).first;
+                std::make_pair(participant, std::move(datawriter))).first;
        }

        it->second->write(static_cast<void *>(&info));
@@ -345,9 +344,8 @@ 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(
@@ -599,7 +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)
@@ -616,15 +614,13 @@ void GraphManager::ParticipantListener::on_participant_discovery(
            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);
+            graphManager_from_->add_participant(participant, false, 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);
+            graphManager_from_->remove_participant(participant, false);
            break;
        }
        default:
@@ -101,4 +101,4 @@ case "$daemon" in
 		echo "'$daemon' is not a valid boolean for daemon" >&2
 		return 1
 		;;
-esac
+esac
@@ -1,19 +0,0 @@
-<?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>
@@ -24,4 +24,4 @@ if [ -n "$p2p_port" ]; then
 	set -- --p2p "$p2p_port" "$@"
 fi

-exec "$SNAP/opt/ros/snap/lib/micro_ros_agent/micro_ros_agent" "$transport" "$@"
+exec "$SNAP/lib/micro_ros_agent/micro_ros_agent" "$transport" "$@"
@@ -71,6 +71,16 @@ 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:

@@ -110,59 +120,49 @@ 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: .
-    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"
-
+    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]
-    build-environment:
-    - ROS_VERSION: '2'
-    - ROS_DISTRO: foxy

  runner:
    plugin: dump
    source: snap/local/
    organize:
-      'micro-ros-agent-daemon': usr/bin/
-      'fastdds_no_shared_memory.xml': usr/share/
+      '*': usr/bin/
+
+plugs:
+  micro-ros-agent-shm-netplug:
+    interface: system-files
+    allow-auto-connection: true
+    write:
+      - /dev/shm

 apps:
  micro-ros-agent:
-    command: opt/ros/snap/lib/micro_ros_agent/micro_ros_agent
+    command: lib/micro_ros_agent/micro_ros_agent
    environment:
-        FASTRTPS_DEFAULT_PROFILES_FILE: ${SNAP}/usr/share/fastdds_no_shared_memory.xml
-    plugs: [network, network-bind, serial-port]
+        LD_LIBRARY_PATH: "$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:
-        FASTRTPS_DEFAULT_PROFILES_FILE: ${SNAP}/usr/share/fastdds_no_shared_memory.xml
+        LD_LIBRARY_PATH: "$LD_LIBRARY_PATH:$SNAP/lib"
    daemon: simple
-    plugs: [network, network-bind, serial-port]
+    plugs: [network, network-bind, serial-port, micro-ros-agent-shm-netplug]