Update SuperBuild.cmake (#238)

* Bump to Fast DDS v3

Signed-off-by: Carlosespicur <carlosespicur@proton.me>

* Fix xrce agent package name and change git tag in SuperBuild.cmake

Signed-off-by: Carlosespicur <carlosespicur@proton.me>

* Bump XRCE Agent version

---------

Signed-off-by: Carlosespicur <carlosespicur@proton.me>
Co-authored-by: Pablo Garrido <pablogs9@gmail.com>

.github/workflows/ci.yml

@@ -3,27 +3,27 @@ name: CI micro-ROS Agent
 on:
     pull_request:
       branches:
-        - 'humble'
+        - 'jazzy'
     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 ]
+          os: [ ubuntu-latest ]
+          ros_distribution: [ jazzy ]
           include:
-            - docker_image: ubuntu:jammy
-              ros_distribution: humble
+            - docker_image: ubuntu:24.04
+              ros_distribution: jazzy
       container:
-        image: ubuntu:jammy
+        image: ${{ matrix.docker_image }}
       steps:
-      - uses: actions/checkout@v2
-      - uses: ros-tooling/setup-ros@0.3.2
+      - uses: actions/checkout@v4
+      - uses: ros-tooling/setup-ros@0.7.7
         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@0.3.13
         with:
           package-name: "micro_ros_agent"
           target-ros2-distro: ${{ matrix.ros_distribution }}

micro_ros_agent/CHANGELOG.rst

@@ -2,19 +2,34 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-3.0.5 (2023-06-06)
-------------------
+5.0.20 (2024-10-14)
+-------------------
+* Bump micro-ROS-Agent to Fast DDS v3.0.1 (`#237 <https://github.com/micro-ROS/micro-ROS-Agent/issues/237>`_)
 
-3.0.4 (2022-09-28)
+5.0.2 (2024-05-31)
 ------------------
-* 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>`_)
+* Jazzy Release
+* Bump Micro XRCE-DDS Agent (`#226 <https://github.com/micro-ROS/micro-ROS-Agent/issues/226>`_)
 
-3.0.3 (2022-06-13)
+5.0.1 (2024-01-29)
 ------------------
-* Fix memory leak in graph manager (`#147 <https://github.com/micro-ROS/micro-ROS-Agent/issues/147>`_)
+* Fix thread include (`#216 <https://github.com/micro-ROS/micro-ROS-Agent/issues/216>`_) (`#218 <https://github.com/micro-ROS/micro-ROS-Agent/issues/218>`_)
 
-3.0.2 (2022-05-25)
+5.0.0 (2023-06-06)
+------------------
+* Add empty type key hash to GraphCache (`#189 <https://github.com/micro-ROS/micro-ROS-Agent/issues/189>`_)
+* Contributors: Antonio Cuadros
+
+4.0.2 (2022-09-28)
+------------------
+* Fix Datawriter destruction (`#169 <https://github.com/micro-ROS/micro-ROS-Agent/issues/169>`_) (`#170 <https://github.com/micro-ROS/micro-ROS-Agent/issues/170>`_)
+* Synchronise predicate (`#160 <https://github.com/micro-ROS/micro-ROS-Agent/issues/160>`_) (`#165 <https://github.com/micro-ROS/micro-ROS-Agent/issues/165>`_)
+
+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)

micro_ros_agent/CMakeLists.txt

@@ -31,10 +31,10 @@ else()
 endif()
 
 find_package(ament_cmake REQUIRED)
-find_package(microxrcedds_agent REQUIRED)
 find_package(rosidl_cmake REQUIRED)
 find_package(fastcdr REQUIRED)
-find_package(fastrtps REQUIRED)
+find_package(fastdds REQUIRED)
+find_package(microxrcedds_agent REQUIRED)
 find_package(fastrtps_cmake_module REQUIRED)
 find_package(rmw_dds_common REQUIRED)
 find_package(rmw REQUIRED)
@@ -68,7 +68,7 @@ ament_target_dependencies(${PROJECT_NAME}
   rosidl_runtime_cpp
   rosidl_typesupport_cpp
   fastcdr
-  fastrtps
+  fastdds
   rmw_dds_common
   rmw
   rmw_fastrtps_shared_cpp
@@ -78,7 +78,7 @@ ament_target_dependencies(${PROJECT_NAME}
 target_link_libraries(${PROJECT_NAME}
   microxrcedds_agent
   fastcdr
-  fastrtps
+  fastdds
   $<$<BOOL:$<PLATFORM_ID:Linux>>:rt>
   $<$<BOOL:$<PLATFORM_ID:Linux>>:dl>
   )

micro_ros_agent/cmake/SuperBuild.cmake

@@ -19,14 +19,14 @@ unset(_deps)
 enable_language(C)
 enable_language(CXX)
 
-unset(xrceagent_DIR CACHE)
-find_package(xrceagent 2 EXACT QUIET)
+unset(microxrcedds_agent_DIR CACHE)
+find_package(microxrcedds_agent 3 EXACT QUIET)
 if(NOT xrceagent_FOUND)
-    ExternalProject_Add(xrceagent
+    ExternalProject_Add(microxrcedds_agent
             GIT_REPOSITORY
                 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
             GIT_TAG
-                ros2
+                v3.0.0
             PREFIX
                 ${PROJECT_BINARY_DIR}/agent
             INSTALL_DIR
@@ -64,5 +64,5 @@ ExternalProject_Add(micro_ros_agent
     INSTALL_COMMAND
         ""
     DEPENDS
-        xrceagent
+        microxrcedds_agent
     )

micro_ros_agent/include/agent/graph_manager/graph_manager.hpp

@@ -15,28 +15,25 @@
 #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"
-#include "fastrtps/participant/Participant.h"
-#include "fastrtps/participant/ParticipantListener.h"
-#include "fastrtps/attributes/PublisherAttributes.h"
-#include "fastrtps/publisher/Publisher.h"
-#include <fastrtps/publisher/PublisherListener.h>
-#include <fastrtps/rtps/common/MatchingInfo.h>
-
+#include "fastdds/dds/topic/TopicDataType.hpp"
+#include "fastdds/rtps/attributes/RTPSParticipantAttributes.hpp"
+#include "fastdds/rtps/participant/RTPSParticipant.hpp"
+#include "fastdds/rtps/participant/RTPSParticipantListener.hpp"
+#include "fastdds/rtps/RTPSDomain.hpp"
 #include <fastdds/dds/domain/DomainParticipant.hpp>
 #include <fastdds/dds/domain/DomainParticipantFactory.hpp>
 #include <fastdds/dds/domain/DomainParticipantListener.hpp>
 #include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
 #include <fastdds/dds/publisher/DataWriter.hpp>
-#include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
 #include <fastdds/dds/publisher/Publisher.hpp>
+#include <fastdds/dds/publisher/PublisherListener.hpp>
+#include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
 #include <fastdds/dds/subscriber/DataReader.hpp>
+#include <fastdds/dds/subscriber/DataReaderListener.hpp>
 #include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
 #include <fastdds/dds/subscriber/SampleInfo.hpp>
 #include <fastdds/dds/subscriber/Subscriber.hpp>
-#include <fastdds/dds/subscriber/DataReaderListener.hpp>
+#include <fastdds/rtps/common/MatchingInfo.hpp>
 
 #include "rmw/types.h"
 #include "rmw/names_and_types.h"
@@ -65,6 +62,7 @@
 #include <string>
 #include <memory>
 #include <map>
+#include <thread>
 
 namespace uros {
 namespace agent {
@@ -124,7 +122,7 @@ public:
      * @param   datawriter Pointer to the datawriter to be added.
      */
     void add_datawriter(
-            const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
+            const eprosima::fastdds::rtps::GUID_t& datawriter_guid,
             const eprosima::fastdds::dds::DomainParticipant* participant,
             const eprosima::fastdds::dds::DataWriter* datawriter);
 
@@ -137,10 +135,10 @@ public:
      * @param   writer_qos QOS of the datawriter to be included into the graph tree.
      */
     void add_datawriter(
-            const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
+            const eprosima::fastdds::rtps::GUID_t& datawriter_guid,
             const std::string& topic_name,
             const std::string& type_name,
-            const eprosima::fastrtps::rtps::GUID_t& participant_guid,
+            const eprosima::fastdds::rtps::GUID_t& participant_guid,
             const eprosima::fastdds::dds::DataWriterQos& writer_qos);
 
     /**
@@ -148,7 +146,7 @@ public:
      * @param   datawriter_guid rtps::GUID_t of the datawriter to be removed.
      */
     void remove_datawriter(
-            const eprosima::fastrtps::rtps::GUID_t& datawriter_guid);
+            const eprosima::fastdds::rtps::GUID_t& datawriter_guid);
 
     /**
      * @brief   Adds a DDS datareader to the graph tree.
@@ -157,7 +155,7 @@ public:
      * @param   datareader Pointer to the datareader to be added.
      */
     void add_datareader(
-            const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
+            const eprosima::fastdds::rtps::GUID_t& datareader_guid,
             const eprosima::fastdds::dds::DomainParticipant* participant,
             const eprosima::fastdds::dds::DataReader* datareader);
 
@@ -167,13 +165,13 @@ public:
      * @param   topic_name Name of the topic to which the datareader sends information to.
      * @param   type_name Type name of the sent topic.
      * @param   participant_guid rtps::GUID_t of the participant which owns this datareader.
-     * @param   writer_qos QOS of the datareader to be included into the graph tree.
+     * @param   reader_qos QOS of the datareader to be included into the graph tree.
      */
     void add_datareader(
-            const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
+            const eprosima::fastdds::rtps::GUID_t& datareader_guid,
             const std::string& topic_name,
             const std::string& type_name,
-            const eprosima::fastrtps::rtps::GUID_t& participant_guid,
+            const eprosima::fastdds::rtps::GUID_t& participant_guid,
             const eprosima::fastdds::dds::DataReaderQos& reader_qos);
 
     /**
@@ -181,7 +179,7 @@ public:
      * @param   datareader_guid rtps::GUID_t of the datareader to be removed.
      */
     void remove_datareader(
-            const  eprosima::fastrtps::rtps::GUID_t& datareader_guid);
+            const  eprosima::fastdds::rtps::GUID_t& datareader_guid);
 
     /**
      * @brief   Associates a certain DDS entity with a provided participant.
@@ -190,7 +188,7 @@ public:
      * @param   entity_kind Kind of the DDS entity.
      */
     void associate_entity(
-            const eprosima::fastrtps::rtps::GUID_t& entity_guid,
+            const eprosima::fastdds::rtps::GUID_t& entity_guid,
             const eprosima::fastdds::dds::DomainParticipant* participant,
             const dds::xrce::ObjectKind& entity_kind);
 
@@ -211,21 +209,28 @@ private:
                 GraphManager* graph_manager);
     private:
 
-        template <typename Info>
+        template <typename DiscoveryStatus, typename Info>
         void process_discovery_info(
+                DiscoveryStatus reason,
                 const Info& proxyData);
 
         void on_participant_discovery(
                 eprosima::fastdds::dds::DomainParticipant* participant,
-                eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info) override;
+                eprosima::fastdds::rtps::ParticipantDiscoveryStatus reason,
+                const eprosima::fastdds::dds::ParticipantBuiltinTopicData& info,
+                bool& should_be_ignored) override;
 
-        void on_subscriber_discovery(
-                eprosima::fastdds::dds::DomainParticipant* /*participant*/,
-                eprosima::fastrtps::rtps::ReaderDiscoveryInfo&& info) override;
+        void on_data_reader_discovery(
+                eprosima::fastdds::dds::DomainParticipant* participant,
+                eprosima::fastdds::rtps::ReaderDiscoveryStatus reason,
+                const eprosima::fastdds::dds::SubscriptionBuiltinTopicData& info,
+                bool& should_be_ignored) override;
 
-        void on_publisher_discovery(
-                eprosima::fastdds::dds::DomainParticipant* /*participant*/,
-                eprosima::fastrtps::rtps::WriterDiscoveryInfo&& info) override;
+        void on_data_writer_discovery(
+                eprosima::fastdds::dds::DomainParticipant* participant,
+                eprosima::fastdds::rtps::WriterDiscoveryStatus reason,
+                const eprosima::fastdds::dds::PublicationBuiltinTopicData& info,
+                bool& should_be_ignored) override;
 
         GraphManager* graphManager_from_;
     };

micro_ros_agent/include/agent/graph_manager/graph_typesupport.hpp

@@ -15,18 +15,16 @@
 #ifndef UROS_AGENT_GRAPH_PARTICIPANTS_TYPESUPPORT_HPP_
 #define UROS_AGENT_GRAPH_PARTICIPANTS_TYPESUPPORT_HPP_
 
-#include "fastrtps/Domain.h"
-#include <fastrtps/TopicDataType.h>
-#include "fastrtps/attributes/ParticipantAttributes.h"
-#include "fastrtps/participant/Participant.h"
-#include "fastrtps/participant/ParticipantListener.h"
-#include "fastrtps/attributes/PublisherAttributes.h"
-#include "fastrtps/publisher/Publisher.h"
-#include <fastrtps/publisher/PublisherListener.h>
-#include <fastrtps/rtps/common/MatchingInfo.h>
-
+#include "fastdds/dds/publisher/Publisher.hpp"
+#include "fastdds/dds/topic/TopicDataType.hpp"
+#include "fastdds/rtps/attributes/RTPSParticipantAttributes.hpp"
+#include "fastdds/rtps/participant/RTPSParticipant.hpp"
+#include "fastdds/rtps/participant/RTPSParticipantListener.hpp"
+#include "fastdds/rtps/RTPSDomain.hpp"
 #include <fastdds/dds/domain/DomainParticipant.hpp>
 #include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
+#include <fastdds/dds/publisher/PublisherListener.hpp>
+#include <fastdds/rtps/common/MatchingInfo.hpp>
 
 #include "rmw/types.h"
 #include "rmw/impl/cpp/key_value.hpp"
@@ -59,24 +57,31 @@ public:
     ParticipantEntitiesInfoTypeSupport();
 
     virtual bool serialize(
-            void* data,
-            eprosima::fastrtps::rtps::SerializedPayload_t* payload) override;
+            const void* const data,
+            eprosima::fastdds::rtps::SerializedPayload_t& payload,
+            eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
     virtual bool deserialize(
-            eprosima::fastrtps::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::SerializedPayload_t& payload,
             void* data) override;
 
-    virtual std::function<uint32_t()> getSerializedSizeProvider(
-            void* data) override;
+    virtual uint32_t calculate_serialized_size(
+            const void* const data,
+            eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    virtual void* createData() override;
+    virtual void* create_data() override;
 
-    virtual void deleteData(void* data) override;
+    virtual void delete_data(void* data) override;
 
-    virtual bool getKey(
-            void* data,
-            eprosima::fastrtps::rtps::InstanceHandle_t* handle,
-            bool force_md5) override;
+    virtual bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t& payload,
+            eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+            bool force_md5 = false) override;
+
+    virtual bool compute_key(
+            const void* const data,
+            eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+            bool force_md5 = false) override;
 
 private:
 
@@ -95,24 +100,31 @@ public:
     MicrorosGraphInfoTypeSupport();
 
     virtual bool serialize(
-            void* data,
-            eprosima::fastrtps::rtps::SerializedPayload_t* payload) override;
+            const void* const data,
+            eprosima::fastdds::rtps::SerializedPayload_t& payload,
+            eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
     virtual bool deserialize(
-            eprosima::fastrtps::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::SerializedPayload_t& payload,
             void* data) override;
 
-    virtual std::function<uint32_t()> getSerializedSizeProvider(
-            void* data) override;
+    virtual uint32_t calculate_serialized_size(
+            const void* const data,
+            eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    virtual void* createData() override;
+    virtual void* create_data() override;
 
-    virtual void deleteData(void* data) override;
+    virtual void delete_data(void* data) override;
 
-    virtual bool getKey(
-            void* data,
-            eprosima::fastrtps::rtps::InstanceHandle_t* handle,
-            bool force_md5) override;
+    virtual bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t& payload,
+            eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+            bool force_md5 = false) override;
+
+    virtual bool compute_key(
+            const void* const data,
+            eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+            bool force_md5 = false) override;
 
 private:
 

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>3.0.5</version>
+  <version>5.0.20</version>
   <description>micro-ROS Agent package</description>
   <maintainer email="pablogarrido@eprosima.com">Pablo Garrido</maintainer>
   <maintainer email="antoniocuadros@eprosima.com">Antonio Cuadros</maintainer>
@@ -20,6 +20,7 @@
   <depend>rmw_fastrtps_shared_cpp</depend>
   <depend>rmw_dds_common</depend>
   <depend>micro_ros_msgs</depend>
+  <depend>microxrcedds_agent</depend>
 
   <test_depend>rosidl_typesupport_fastrtps_cpp</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>

micro_ros_agent/src/agent/Agent.cpp

@@ -122,10 +122,10 @@ 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 =
+                const eprosima::fastdds::rtps::InstanceHandle_t instance_handle =
                     datareader->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
+                const eprosima::fastdds::rtps::GUID_t datareader_guid =
+                    eprosima::fastdds::rtps::iHandle2GUID(instance_handle);
                 graph_manager_->add_datareader(datareader_guid, participant, datareader);
                 graph_manager_->associate_entity(
                     datareader_guid, participant, dds::xrce::OBJK_DATAREADER);
@@ -148,10 +148,10 @@ 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 =
+                const eprosima::fastdds::rtps::InstanceHandle_t instance_handle =
                     datareader->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
+                const eprosima::fastdds::rtps::GUID_t datareader_guid =
+                    eprosima::fastdds::rtps::iHandle2GUID(instance_handle);
                 graph_manager_->remove_datareader(datareader_guid);
             });
 
@@ -179,10 +179,10 @@ bool Agent::create(
                     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 =
+                const eprosima::fastdds::rtps::InstanceHandle_t instance_handle =
                     datareader->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
+                const eprosima::fastdds::rtps::GUID_t datareader_guid =
+                    eprosima::fastdds::rtps::iHandle2GUID(instance_handle);
                 graph_manager_->add_datareader(datareader_guid, participant, datareader);
                 graph_manager_->associate_entity(
                     datareader_guid, participant, dds::xrce::OBJK_DATAREADER);
@@ -209,10 +209,10 @@ bool Agent::create(
                 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 =
+                const eprosima::fastdds::rtps::InstanceHandle_t instance_handle =
                     datareader->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
+                const eprosima::fastdds::rtps::GUID_t datareader_guid =
+                    eprosima::fastdds::rtps::iHandle2GUID(instance_handle);
                 graph_manager_->remove_datareader(datareader_guid);
             });
 
@@ -240,10 +240,10 @@ bool Agent::create(
                     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 =
+                const eprosima::fastdds::rtps::InstanceHandle_t instance_handle =
                     datareader->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
+                const eprosima::fastdds::rtps::GUID_t datareader_guid =
+                    eprosima::fastdds::rtps::iHandle2GUID(instance_handle);
                 graph_manager_->add_datareader(datareader_guid, participant, datareader);
                 graph_manager_->associate_entity(
                     datareader_guid, participant, dds::xrce::OBJK_DATAREADER);
@@ -270,10 +270,10 @@ bool Agent::create(
                 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 =
+                const eprosima::fastdds::rtps::InstanceHandle_t instance_handle =
                     datareader->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
+                const eprosima::fastdds::rtps::GUID_t datareader_guid =
+                    eprosima::fastdds::rtps::iHandle2GUID(instance_handle);
                 graph_manager_->remove_datareader(datareader_guid);
             });
 

micro_ros_agent/src/agent/graph_manager/graph_manager.cpp

@@ -16,6 +16,9 @@
 #define _UROS_AGENT_GRAPH_MANAGER_CPP
 
 #include <agent/graph_manager/graph_manager.hpp>
+#include <fastdds/dds/core/detail/DDSReturnCode.hpp>
+#include <fastdds/rtps/participant/ParticipantDiscoveryInfo.hpp>
+#include <fastdds/rtps/reader/ReaderDiscoveryStatus.hpp>
 
 #include <memory>
 #include <string>
@@ -54,9 +57,9 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
 
     participant_qos.name(enclave);
     participant_qos.wire_protocol().builtin.readerHistoryMemoryPolicy =
-        eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+        eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
     participant_qos.wire_protocol().builtin.writerHistoryMemoryPolicy =
-        eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+        eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
 
     eprosima::fastdds::dds::StatusMask par_mask = eprosima::fastdds::dds::StatusMask::none();
     participant_.reset(eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->
@@ -91,7 +94,7 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
         eprosima::fastdds::dds::HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
     datawriter_qos_.history().depth = 1;
     datawriter_qos_.endpoint().history_memory_policy =
-        eprosima::fastrtps::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+        eprosima::fastdds::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
     datawriter_qos_.publish_mode().kind =
         eprosima::fastdds::dds::PublishModeQosPolicyKind::ASYNCHRONOUS_PUBLISH_MODE;
     datawriter_qos_.reliability().kind =
@@ -113,7 +116,7 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
         eprosima::fastdds::dds::HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
     datareader_qos.history().depth = 1;
     datareader_qos.endpoint().history_memory_policy =
-        eprosima::fastrtps::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+        eprosima::fastdds::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
     datareader_qos.reliability().kind =
         eprosima::fastdds::dds::ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
     datareader_qos.durability().kind =
@@ -351,7 +354,7 @@ void GraphManager::remove_participant(
 }
 
 void GraphManager::add_datawriter(
-        const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
+        const eprosima::fastdds::rtps::GUID_t& datawriter_guid,
         const eprosima::fastdds::dds::DomainParticipant* participant,
         const eprosima::fastdds::dds::DataWriter* datawriter)
 {
@@ -362,10 +365,10 @@ void GraphManager::add_datawriter(
 }
 
 void GraphManager::add_datawriter(
-        const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
+        const eprosima::fastdds::rtps::GUID_t& datawriter_guid,
         const std::string& topic_name,
         const std::string& type_name,
-        const eprosima::fastrtps::rtps::GUID_t& participant_guid,
+        const eprosima::fastdds::rtps::GUID_t& participant_guid,
         const eprosima::fastdds::dds::DataWriterQos& writer_qos)
 {
     const rmw_gid_t datawriter_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
@@ -374,12 +377,12 @@ 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,
-        type_name, participant_gid, qos_profile, false);
+    graphCache_.add_entity(datawriter_gid, topic_name, type_name,
+        rosidl_get_zero_initialized_type_hash(), participant_gid, qos_profile, false);
 }
 
 void GraphManager::remove_datawriter(
-        const eprosima::fastrtps::rtps::GUID_t& datawriter_guid)
+        const eprosima::fastdds::rtps::GUID_t& datawriter_guid)
 {
     const rmw_gid_t datawriter_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
         "rmw_fastrtps_cpp", datawriter_guid);
@@ -388,7 +391,7 @@ void GraphManager::remove_datawriter(
 }
 
 void GraphManager::add_datareader(
-        const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
+        const eprosima::fastdds::rtps::GUID_t& datareader_guid,
         const eprosima::fastdds::dds::DomainParticipant* participant,
         const eprosima::fastdds::dds::DataReader* datareader)
 {
@@ -399,10 +402,10 @@ void GraphManager::add_datareader(
 }
 
 void GraphManager::add_datareader(
-        const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
+        const eprosima::fastdds::rtps::GUID_t& datareader_guid,
         const std::string& topic_name,
         const std::string& type_name,
-        const eprosima::fastrtps::rtps::GUID_t& participant_guid,
+        const eprosima::fastdds::rtps::GUID_t& participant_guid,
         const eprosima::fastdds::dds::DataReaderQos& reader_qos)
 {
     const rmw_gid_t datareader_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
@@ -411,12 +414,17 @@ void GraphManager::add_datareader(
         "rmw_fastrtps_cpp", participant_guid);
     const rmw_qos_profile_t qos_profile = fastdds_qos_to_rmw_qos(reader_qos);
 
-    graphCache_.add_entity(datareader_gid, topic_name,
-        type_name, participant_gid, qos_profile, true);
+    // TODO(acuadros95): Use typesupport to calculate type hash on micro-ROS and save and get it from reader_qos.user_data.
+    // Related PRs:
+    // https://github.com/ros2/rmw_dds_common/pull/70
+    // https://github.com/ros2/rmw_fastrtps/pull/671
+    // https://github.com/ros2/rmw_fastrtps/pull/680
+    graphCache_.add_entity(datareader_gid, topic_name, type_name,
+        rosidl_get_zero_initialized_type_hash(), participant_gid, qos_profile, true);
 }
 
 void GraphManager::remove_datareader(
-        const eprosima::fastrtps::rtps::GUID_t& datareader_guid)
+        const eprosima::fastdds::rtps::GUID_t& datareader_guid)
 {
     const rmw_gid_t datareader_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
         "rmw_fastrtps_cpp", datareader_guid);
@@ -425,7 +433,7 @@ void GraphManager::remove_datareader(
 }
 
 void GraphManager::associate_entity(
-        const eprosima::fastrtps::rtps::GUID_t& entity_guid,
+        const eprosima::fastdds::rtps::GUID_t& entity_guid,
         const eprosima::fastdds::dds::DomainParticipant* participant,
         const dds::xrce::ObjectKind& entity_kind)
 {
@@ -545,7 +553,7 @@ void GraphManager::update_node_entities_info()
     rmw_dds_common::msg::ParticipantEntitiesInfo entities_info;
     eprosima::fastdds::dds::SampleInfo sample_info;
     if (ros_discovery_datareader_->take_next_sample(&entities_info, &sample_info) ==
-        eprosima::fastrtps::types::ReturnCode_t::RETCODE_OK)
+        eprosima::fastdds::dds::RETCODE_OK)
     {
         if (sample_info.instance_state == eprosima::fastdds::dds::InstanceStateKind::ALIVE_INSTANCE_STATE)
         {
@@ -599,14 +607,19 @@ GraphManager::ParticipantListener::ParticipantListener(
 }
 
 void GraphManager::ParticipantListener::on_participant_discovery(
-        eprosima::fastdds::dds::DomainParticipant* /* participant */,
-        eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info)
+        eprosima::fastdds::dds::DomainParticipant* participant,
+        eprosima::fastdds::rtps::ParticipantDiscoveryStatus reason,
+        const eprosima::fastdds::dds::ParticipantBuiltinTopicData& info,
+        bool& should_be_ignored)
 {
-    switch (info.status)
+    static_cast<void>(participant);
+    static_cast<void>(should_be_ignored);
+
+    switch (reason)
     {
-        case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DISCOVERED_PARTICIPANT:
+        case eprosima::fastdds::rtps::ParticipantDiscoveryStatus::DISCOVERED_PARTICIPANT:
         {
-            auto map = rmw::impl::cpp::parse_key_value(info.info.m_userData);
+            auto map = rmw::impl::cpp::parse_key_value(info.user_data);
             auto name_found = map.find("enclave");
 
             if (map.end() == name_found)
@@ -616,14 +629,14 @@ 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);
+            const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", info.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:
+        case eprosima::fastdds::rtps::ParticipantDiscoveryStatus::REMOVED_PARTICIPANT:
+        case eprosima::fastdds::rtps::ParticipantDiscoveryStatus::DROPPED_PARTICIPANT:
         {
-            const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", info.info.m_guid);
+            const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", info.guid);
             graphManager_from_->get_graph_cache().remove_participant(gid);
             break;
         }
@@ -635,117 +648,133 @@ void GraphManager::ParticipantListener::on_participant_discovery(
 }
 
 static eprosima::fastdds::dds::DataWriterQos writer_qos_conversion(
-    const eprosima::fastdds::dds::WriterQos& writer_qos)
+    const eprosima::fastdds::dds::PublicationBuiltinTopicData& writer_info)
 {
     eprosima::fastdds::dds::DataWriterQos datawriter_qos;
-    datawriter_qos.durability(writer_qos.m_durability);
-    datawriter_qos.durability_service(writer_qos.m_durabilityService);
-    datawriter_qos.deadline(writer_qos.m_deadline);
-    datawriter_qos.latency_budget(writer_qos.m_latencyBudget);
-    datawriter_qos.liveliness(writer_qos.m_liveliness);
-    datawriter_qos.reliability(writer_qos.m_reliability);
-    datawriter_qos.destination_order(writer_qos.m_destinationOrder);
-    datawriter_qos.lifespan(writer_qos.m_lifespan);
-    datawriter_qos.user_data(writer_qos.m_userData);
-    datawriter_qos.ownership(writer_qos.m_ownership);
-    datawriter_qos.ownership_strength(writer_qos.m_ownershipStrength);
-    datawriter_qos.publish_mode(writer_qos.m_publishMode);
-    datawriter_qos.representation(writer_qos.representation);
-    datawriter_qos.data_sharing(writer_qos.data_sharing);
+    eprosima::fastdds::dds::RTPSReliableWriterQos reliable_writer_qos;
+    reliable_writer_qos.disable_positive_acks = writer_info.disable_positive_acks;
+
+    datawriter_qos.durability(writer_info.durability);
+    datawriter_qos.durability_service(writer_info.durability_service);
+    datawriter_qos.deadline(writer_info.deadline);
+    datawriter_qos.latency_budget(writer_info.latency_budget);
+    datawriter_qos.liveliness(writer_info.liveliness);
+    datawriter_qos.reliability(writer_info.reliability);
+    datawriter_qos.lifespan(writer_info.lifespan);
+    datawriter_qos.user_data(writer_info.user_data);
+    datawriter_qos.ownership(writer_info.ownership);
+    datawriter_qos.ownership_strength(writer_info.ownership_strength);
+    datawriter_qos.destination_order(writer_info.destination_order);
+    datawriter_qos.reliable_writer_qos(reliable_writer_qos);
+    datawriter_qos.representation(writer_info.representation);
+    datawriter_qos.data_sharing(writer_info.data_sharing);
 
     return datawriter_qos;
 }
 
 static eprosima::fastdds::dds::DataReaderQos reader_qos_conversion(
-    const eprosima::fastdds::dds::ReaderQos& reader_qos)
+    const eprosima::fastdds::rtps::SubscriptionBuiltinTopicData& reader_info)
 {
     eprosima::fastdds::dds::DataReaderQos datareader_qos;
+    eprosima::fastdds::dds::RTPSReliableReaderQos reliable_reader_qos;
+    reliable_reader_qos.disable_positive_acks = reader_info.disable_positive_acks;
 
-    datareader_qos.durability(reader_qos.m_durability);
-    datareader_qos.deadline(reader_qos.m_deadline);
-    datareader_qos.latency_budget(reader_qos.m_latencyBudget);
-    datareader_qos.liveliness(reader_qos.m_liveliness);
-    datareader_qos.reliability(reader_qos.m_reliability);
-    datareader_qos.destination_order(reader_qos.m_destinationOrder);
-    datareader_qos.user_data(reader_qos.m_userData);
-    datareader_qos.ownership(reader_qos.m_ownership);
-    datareader_qos.time_based_filter(reader_qos.m_timeBasedFilter);
-    datareader_qos.lifespan(reader_qos.m_lifespan);
-    datareader_qos.durability_service(reader_qos.m_durabilityService);
-    eprosima::fastdds::dds::TypeConsistencyQos consistency;
-    consistency.type_consistency = reader_qos.type_consistency;
-    datareader_qos.type_consistency(consistency);
-    datareader_qos.data_sharing(reader_qos.data_sharing);
+    datareader_qos.durability(reader_info.durability);
+    datareader_qos.deadline(reader_info.deadline);
+    datareader_qos.latency_budget(reader_info.latency_budget);
+    datareader_qos.lifespan(reader_info.lifespan);
+    datareader_qos.liveliness(reader_info.liveliness);
+    datareader_qos.reliability(reader_info.reliability);
+    datareader_qos.ownership(reader_info.ownership);
+    datareader_qos.destination_order(reader_info.destination_order);
+    datareader_qos.user_data(reader_info.user_data);
+    datareader_qos.time_based_filter(reader_info.time_based_filter);
+    datareader_qos.type_consistency(reader_info.type_consistency);
+    datareader_qos.reliable_reader_qos(reliable_reader_qos);
+    datareader_qos.representation(reader_info.representation);
+    datareader_qos.data_sharing(reader_info.data_sharing);
 
     return datareader_qos;
 }
 
 template <>
-void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtps::rtps::ReaderDiscoveryInfo>(
-        const eprosima::fastrtps::rtps::ReaderDiscoveryInfo& reader_info)
+void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastdds::rtps::ReaderDiscoveryStatus, eprosima::fastdds::rtps::SubscriptionBuiltinTopicData>(
+        eprosima::fastdds::rtps::ReaderDiscoveryStatus reason,
+        const eprosima::fastdds::rtps::SubscriptionBuiltinTopicData& reader_info)
 {
-    switch (reader_info.status)
+    switch (reason)
     {
-        case eprosima::fastrtps::rtps::ReaderDiscoveryInfo::CHANGED_QOS_READER:
+        case eprosima::fastdds::rtps::ReaderDiscoveryStatus::CHANGED_QOS_READER:
         {
             return;
         }
-        case eprosima::fastrtps::rtps::ReaderDiscoveryInfo::DISCOVERED_READER:
+        case eprosima::fastdds::rtps::ReaderDiscoveryStatus::DISCOVERED_READER:
         {
-            const std::string topic_name = reader_info.info.topicName().to_string();
-            const std::string type_name = reader_info.info.typeName().to_string();
+            const std::string topic_name = reader_info.topic_name.to_string();
+            const std::string type_name = reader_info.type_name.to_string();
 
-            graphManager_from_->add_datareader(reader_info.info.guid(), topic_name, type_name,
-                iHandle2GUID(reader_info.info.RTPSParticipantKey()), reader_qos_conversion(reader_info.info.m_qos));
+            graphManager_from_->add_datareader(reader_info.guid, topic_name, type_name,
+                reader_info.participant_guid, reader_qos_conversion(reader_info));
             break;
         }
         default:
         {
-            graphManager_from_->remove_datareader(reader_info.info.guid());
+            graphManager_from_->remove_datareader(reader_info.guid);
             break;
         }
     }
 }
 
 template <>
-void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtps::rtps::WriterDiscoveryInfo>(
-        const eprosima::fastrtps::rtps::WriterDiscoveryInfo& writer_info)
+void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastdds::rtps::WriterDiscoveryStatus, eprosima::fastdds::rtps::PublicationBuiltinTopicData>(
+        eprosima::fastdds::rtps::WriterDiscoveryStatus reason,
+        const eprosima::fastdds::rtps::PublicationBuiltinTopicData& writer_info)
 {
-    switch (writer_info.status)
+    switch (reason)
     {
-        case eprosima::fastrtps::rtps::WriterDiscoveryInfo::CHANGED_QOS_WRITER:
+        case eprosima::fastdds::rtps::WriterDiscoveryStatus::CHANGED_QOS_WRITER:
         {
             return;
         }
-        case eprosima::fastrtps::rtps::WriterDiscoveryInfo::DISCOVERED_WRITER:
+        case eprosima::fastdds::rtps::WriterDiscoveryStatus::DISCOVERED_WRITER:
         {
-            const std::string topic_name = writer_info.info.topicName().to_string();
-            const std::string type_name = writer_info.info.typeName().to_string();
+            const std::string topic_name = writer_info.topic_name.to_string();
+            const std::string type_name = writer_info.type_name.to_string();
 
-            graphManager_from_->add_datawriter(writer_info.info.guid(), topic_name, type_name,
-                iHandle2GUID(writer_info.info.RTPSParticipantKey()), writer_qos_conversion(writer_info.info.m_qos));
+            graphManager_from_->add_datawriter(writer_info.guid, topic_name, type_name,
+                writer_info.participant_guid, writer_qos_conversion(writer_info));
             break;
         }
         default:
         {
-            graphManager_from_->remove_datawriter(writer_info.info.guid());
+            graphManager_from_->remove_datawriter(writer_info.guid);
             break;
         }
     }
 }
 
-void GraphManager::ParticipantListener::on_subscriber_discovery(
-        eprosima::fastdds::dds::DomainParticipant* /*participant*/,
-        eprosima::fastrtps::rtps::ReaderDiscoveryInfo&& info)
+void GraphManager::ParticipantListener::on_data_reader_discovery(
+        eprosima::fastdds::dds::DomainParticipant* participant,
+        eprosima::fastdds::rtps::ReaderDiscoveryStatus reason,
+        const eprosima::fastdds::dds::SubscriptionBuiltinTopicData& info,
+        bool& should_be_ignored)
 {
-    process_discovery_info<eprosima::fastrtps::rtps::ReaderDiscoveryInfo>(info);
+    static_cast<void>(participant);
+    static_cast<void>(should_be_ignored);
+
+    process_discovery_info<eprosima::fastdds::rtps::ReaderDiscoveryStatus, eprosima::fastdds::rtps::SubscriptionBuiltinTopicData>(reason, info);
 }
 
-void GraphManager::ParticipantListener::on_publisher_discovery(
-        eprosima::fastdds::dds::DomainParticipant* /*participant*/,
-        eprosima::fastrtps::rtps::WriterDiscoveryInfo&& info)
+void GraphManager::ParticipantListener::on_data_writer_discovery(
+        eprosima::fastdds::dds::DomainParticipant* participant,
+        eprosima::fastdds::rtps::WriterDiscoveryStatus reason,
+        const eprosima::fastdds::dds::PublicationBuiltinTopicData& info,
+        bool& should_be_ignored)
 {
-    process_discovery_info<eprosima::fastrtps::rtps::WriterDiscoveryInfo>(info);
+    static_cast<void>(participant);
+    static_cast<void>(should_be_ignored);
+
+    process_discovery_info<eprosima::fastdds::rtps::WriterDiscoveryStatus, eprosima::fastdds::rtps::PublicationBuiltinTopicData>(reason, info);
 }
 
 GraphManager::DatareaderListener::DatareaderListener(

micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp

@@ -41,27 +41,30 @@ ParticipantEntitiesInfoTypeSupport::ParticipantEntitiesInfoTypeSupport()
         ss << message_namespace << "::";
     }
     ss << "dds_::" << message_name << "_";
-    this->setName(ss.str().c_str());
+    this->set_name(ss.str().c_str());
 
     char full_bounded;
-    m_typeSize = 4 + callbacks_->max_serialized_size(full_bounded);
+    max_serialized_type_size = 4 + callbacks_->max_serialized_size(full_bounded);
 }
 
 bool ParticipantEntitiesInfoTypeSupport::serialize(
-        void * data,
-        eprosima::fastrtps::rtps::SerializedPayload_t * payload)
+        const void* const data,
+        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+        eprosima::fastdds::dds::DataRepresentationId_t data_representation)
 {
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
-        payload->max_size);
+    static_cast<void>(data_representation);
+
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload.data),
+        payload.max_size);
     eprosima::fastcdr::Cdr scdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-        eprosima::fastcdr::Cdr::DDS_CDR);
+        eprosima::fastcdr::DDS_CDR);
 
     scdr.serialize_encapsulation();
     if (callbacks_->cdr_serialize(data, scdr))
     {
-        payload->encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
+        payload.encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
             CDR_BE : CDR_LE;
-        payload->length = static_cast<uint32_t>(scdr.getSerializedDataLength());
+        payload.length = static_cast<uint32_t>(scdr.get_serialized_data_length());
         return true;
     }
     else
@@ -71,47 +74,58 @@ bool ParticipantEntitiesInfoTypeSupport::serialize(
 }
 
 bool ParticipantEntitiesInfoTypeSupport::deserialize(
-        eprosima::fastrtps::rtps::SerializedPayload_t * payload,
+        eprosima::fastdds::rtps::SerializedPayload_t& payload,
         void * data)
 {
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
-        payload->length);
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload.data),
+        payload.length);
     eprosima::fastcdr::Cdr dcdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-        eprosima::fastcdr::Cdr::DDS_CDR);
+        eprosima::fastcdr::DDS_CDR);
 
     dcdr.read_encapsulation();
     return callbacks_->cdr_deserialize(dcdr, data);
 }
 
-std::function<uint32_t()> ParticipantEntitiesInfoTypeSupport::getSerializedSizeProvider(
-        void * data)
+uint32_t ParticipantEntitiesInfoTypeSupport::calculate_serialized_size(
+            const void* const data,
+            eprosima::fastdds::dds::DataRepresentationId_t data_representation)
 {
-    return [data, this]() -> uint32_t
-    {
+    static_cast<void>(data_representation);
+
     return static_cast<uint32_t>(4 + callbacks_->get_serialized_size(data));
-    };
 }
 
-void * ParticipantEntitiesInfoTypeSupport::createData()
+void * ParticipantEntitiesInfoTypeSupport::create_data()
 {
     return static_cast<void *>(nullptr);
 }
 
-void ParticipantEntitiesInfoTypeSupport::deleteData(
+void ParticipantEntitiesInfoTypeSupport::delete_data(
         void * data)
 {
     (void) data;
 }
 
-bool ParticipantEntitiesInfoTypeSupport::getKey(
-        void * data,
-        eprosima::fastrtps::rtps::InstanceHandle_t * handle,
-        bool force_md5)
+bool ParticipantEntitiesInfoTypeSupport::compute_key(
+        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+        bool force_md5 /* = false */)
+{
+    (void) payload;
+    (void) ihandle;
+    (void) force_md5;
+    return is_compute_key_provided;
+}
+
+bool ParticipantEntitiesInfoTypeSupport::compute_key(
+        const void * const data,
+        eprosima::fastdds::rtps::InstanceHandle_t& handle,
+        bool force_md5 /* = false */)
 {
     (void) data;
     (void) handle;
     (void) force_md5;
-    return m_isGetKeyDefined;
+    return is_compute_key_provided;
 }
 
 
@@ -133,27 +147,30 @@ MicrorosGraphInfoTypeSupport::MicrorosGraphInfoTypeSupport()
         ss << message_namespace << "::";
     }
     ss << "dds_::" << message_name << "_";
-    this->setName(ss.str().c_str());
+    this->set_name(ss.str().c_str());
 
     char full_bounded;
-    m_typeSize = 4 + callbacks_->max_serialized_size(full_bounded);
+    max_serialized_type_size = 4 + callbacks_->max_serialized_size(full_bounded);
 }
 
 bool MicrorosGraphInfoTypeSupport::serialize(
-        void * data,
-        eprosima::fastrtps::rtps::SerializedPayload_t * payload)
+        const void* const data,
+        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+        eprosima::fastdds::dds::DataRepresentationId_t data_representation)
 {
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
-        payload->max_size);
+    static_cast<void>(data_representation);
+
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload.data),
+        payload.max_size);
     eprosima::fastcdr::Cdr scdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-        eprosima::fastcdr::Cdr::DDS_CDR);
+        eprosima::fastcdr::DDS_CDR);
 
     scdr.serialize_encapsulation();
     if (callbacks_->cdr_serialize(data, scdr))
     {
-        payload->encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
+        payload.encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
             CDR_BE : CDR_LE;
-        payload->length = static_cast<uint32_t>(scdr.getSerializedDataLength());
+        payload.length = static_cast<uint32_t>(scdr.get_serialized_data_length());
         return true;
     }
     else
@@ -163,47 +180,58 @@ bool MicrorosGraphInfoTypeSupport::serialize(
 }
 
 bool MicrorosGraphInfoTypeSupport::deserialize(
-        eprosima::fastrtps::rtps::SerializedPayload_t * payload,
-        void * data)
+        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+        void* data)
 {
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
-        payload->length);
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload.data),
+        payload.length);
     eprosima::fastcdr::Cdr dcdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-        eprosima::fastcdr::Cdr::DDS_CDR);
+        eprosima::fastcdr::DDS_CDR);
 
     dcdr.read_encapsulation();
     return callbacks_->cdr_deserialize(dcdr, data);
 }
 
-std::function<uint32_t()> MicrorosGraphInfoTypeSupport::getSerializedSizeProvider(
-        void * data)
+uint32_t MicrorosGraphInfoTypeSupport::calculate_serialized_size(
+        const void* const data,
+        eprosima::fastdds::dds::DataRepresentationId_t data_representation)
 {
-    return [data, this]() -> uint32_t
-    {
+    static_cast<void>(data_representation);
+
     return static_cast<uint32_t>(4 + callbacks_->get_serialized_size(data));
-    };
 }
 
-void * MicrorosGraphInfoTypeSupport::createData()
+void * MicrorosGraphInfoTypeSupport::create_data()
 {
     return static_cast<void *>(nullptr);
 }
 
-void MicrorosGraphInfoTypeSupport::deleteData(
+void MicrorosGraphInfoTypeSupport::delete_data(
         void * data)
 {
     (void) data;
 }
 
-bool MicrorosGraphInfoTypeSupport::getKey(
-        void * data,
-        eprosima::fastrtps::rtps::InstanceHandle_t * handle,
-        bool force_md5)
+bool MicrorosGraphInfoTypeSupport::compute_key(
+        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+        bool force_md5 /* = false */)
+{
+    (void) payload;
+    (void) ihandle;
+    (void) force_md5;
+    return is_compute_key_provided;
+}
+
+bool MicrorosGraphInfoTypeSupport::compute_key(
+        const void* const data,
+        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+        bool force_md5 /* = false */)
 {
     (void) data;
-    (void) handle;
+    (void) ihandle;
     (void) force_md5;
-    return m_isGetKeyDefined;
+    return is_compute_key_provided;
 }
 
 }  // namespace graph_manager

snap/local/fastdds_no_shared_memory.xml

@@ -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>

snap/local/micro-ros-agent-daemon

@@ -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" "$transport" "$@"

snap/snapcraft.yaml

@@ -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]