Initial PoC

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

micro_ros_agent/CHANGELOG.rst

@@ -2,18 +2,6 @@
 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)
 ------------------
 

micro_ros_agent/include/agent/Agent.hpp

@@ -46,6 +46,7 @@ private:
 
     eprosima::uxr::AgentInstance& xrce_dds_agent_instance_;
     std::map<eprosima::fastdds::dds::DomainId_t, std::shared_ptr<graph_manager::GraphManager>> graph_manager_map_;
+    std::string namespace_remapping = "";
 
     std::shared_ptr<graph_manager::GraphManager> find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id);
 };

micro_ros_agent/include/agent/graph_manager/graph_manager.hpp

@@ -80,7 +80,7 @@ public:
     /**
      * @brief   Default constructor.
      */
-    GraphManager(eprosima::fastdds::dds::DomainId_t domain_id);
+    GraphManager(eprosima::fastdds::dds::DomainId_t domain_id, std::string namespace_remapping);
 
     /**
      * @brief   Default destructor.
@@ -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.
@@ -280,6 +274,7 @@ private:
             std::string& node_namespace);
 
     eprosima::fastdds::dds::DomainId_t domain_id_;
+    std::string namespace_remapping_;
     bool graph_changed_;
     bool display_on_change_;
     std::thread microros_graph_publisher_;
@@ -305,7 +300,7 @@ 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_;
 };
 

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>3.0.2</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/Agent.cpp

@@ -33,6 +33,17 @@ bool Agent::create(
         char** argv)
 {
     bool result = xrce_dds_agent_instance_.create(argc, argv);
+
+    // Find namespace remapping
+    for (int i = 0; i < argc; i++)
+    {
+        if (strcmp(argv[i], "--namespace-remapping") == 0 && i + 1 < argc)
+        {
+            namespace_remapping = argv[i + 1];
+            std::cout << "Remapping all entities to namespace " << namespace_remapping << std::endl;
+        }
+    }
+
     if (result)
     {
         /**
@@ -293,8 +304,7 @@ void Agent::run()
 
 std::shared_ptr<graph_manager::GraphManager> Agent::find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id)
 {
-
-auto it = graph_manager_map_.find(domain_id);
+    auto it = graph_manager_map_.find(domain_id);
 
     if (it != graph_manager_map_.end()) {
         return it->second;
@@ -302,7 +312,7 @@ auto it = graph_manager_map_.find(domain_id);
         return graph_manager_map_.insert(
             std::make_pair(
                 domain_id,
-                std::make_shared<graph_manager::GraphManager>(domain_id)
+                std::make_shared<graph_manager::GraphManager>(domain_id, namespace_remapping)
             )
         ).first->second;
     }

micro_ros_agent/src/agent/graph_manager/graph_manager.cpp

@@ -26,8 +26,9 @@ namespace uros {
 namespace agent {
 namespace graph_manager {
 
-GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
+GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id, std::string namespace_remapping)
     : domain_id_(domain_id)
+    , namespace_remapping_(namespace_remapping)
     , graph_changed_(false)
     , display_on_change_(false)
     , mtx_()
@@ -126,10 +127,8 @@ 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 +145,6 @@ inline void GraphManager::publish_microros_graph()
             {
                 return this->graph_changed_;
             });
-            graph_changed_ = false;
         }
 
         if (display_on_change_)
@@ -154,6 +152,7 @@ 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;
 
@@ -315,6 +314,8 @@ void GraphManager::add_participant(
         std::string isolated_node_name, isolated_namespace;
         get_name_and_namespace(qos.name().to_string(), isolated_node_name, isolated_namespace);
 
+        isolated_namespace = namespace_remapping_ + isolated_namespace;
+
         rmw_dds_common::msg::ParticipantEntitiesInfo info =
             graphCache_.add_node(gid, isolated_node_name, isolated_namespace);
 
@@ -322,10 +323,11 @@ 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 +347,8 @@ 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(
@@ -357,7 +358,10 @@ void GraphManager::add_datawriter(
 {
     const std::string& topic_name = datawriter->get_topic()->get_name();
     const std::string& type_name = datawriter->get_topic()->get_type_name();
-    this->add_datawriter(datawriter_guid, topic_name, type_name,
+
+    auto remapped_topic_name = namespace_remapping_ + "/" + topic_name;
+
+    this->add_datawriter(datawriter_guid, remapped_topic_name, type_name,
         participant->guid(), datawriter->get_qos());
 }
 
@@ -374,7 +378,9 @@ 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,
+     auto remapped_topic_name = namespace_remapping_ + "/" + topic_name;
+
+    graphCache_.add_entity(datawriter_gid, remapped_topic_name,
         type_name, participant_gid, qos_profile, false);
 }
 
@@ -443,6 +449,7 @@ void GraphManager::associate_entity(
         {
             std::string isolated_node_name, isolated_namespace;
             get_name_and_namespace(qos.name().c_str(), isolated_node_name, isolated_namespace);
+            isolated_namespace = namespace_remapping_ + isolated_namespace;
             info = graphCache_.associate_writer(
                 entity_gid, participant_gid, isolated_node_name, isolated_namespace);
             break;
@@ -451,6 +458,7 @@ void GraphManager::associate_entity(
         {
             std::string isolated_node_name, isolated_namespace;
             get_name_and_namespace(qos.name().c_str(), isolated_node_name, isolated_namespace);
+            isolated_namespace = namespace_remapping_ + isolated_namespace;
             info = graphCache_.associate_reader(
                 entity_gid, participant_gid, isolated_node_name, isolated_namespace);
             break;
@@ -599,7 +607,7 @@ 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 +624,13 @@ 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:

snap/hooks/configure

@@ -101,4 +101,4 @@ case "$daemon" in
 		echo "'$daemon' is not a valid boolean for daemon" >&2
 		return 1
 		;;
-esac
+esac

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]