4.0.2

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

Signed-off-by: Pablo Garrido <pablogs9@gmail.com>
(cherry picked from commit 4f686e8dc1)

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>

.github/workflows/ci.yml

@@ -3,36 +3,35 @@ name: CI micro-ROS Agent
 on:
     pull_request:
       branches:
-        - '**'
+        - 'main'
+    schedule:
+      - cron: '33 6 * * *'
 
 jobs:
 
     microros_agent_ci:
-        runs-on: ubuntu-20.04
+      runs-on: ${{ matrix.os }}
-        container: microros/base:rolling
+      strategy:
-
+        fail-fast: false
-        steps:
+        matrix:
-        - uses: actions/checkout@v2
+          os: [ ubuntu-20.04 ]
-          with:
+          ros_distribution: [ rolling ]
-            path: urosagent
+          include:
-
+            - docker_image: ubuntu:22.04
-        - name: Download dependencies
+              ros_distribution: rolling
-          run: |
+      container:
-            apt update
+        image: ubuntu:22.04
-            cd /uros_ws
+      steps:
-            . /opt/ros/$ROS_DISTRO/setup.sh
+      - uses: actions/checkout@v2
-            . install/local_setup.sh
+      - uses: ros-tooling/setup-ros@0.3.2
-            rosdep update --rosdistro=$ROS_DISTRO
+        with:
-            ros2 run micro_ros_setup create_agent_ws.sh
+          use-ros2-testing: false
-
+          required-ros-distributions: ${{ matrix.ros_distribution }}
-        - name: Patch branch
+      - name : Download and install dependencies
-          run: |
+        run: |
-            rm -rf /uros_ws/src/uros/micro-ROS-Agent/*
+          apt-get install ros-${{ matrix.ros_distribution }}-micro-ros-msgs
-            cp -R urosagent/* /uros_ws/src/uros/micro-ROS-Agent/
+          apt-get install ros-${{ matrix.ros_distribution }}-rmw-fastrtps-cpp
-
+      - uses : ros-tooling/action-ros-ci@0.2.5
-        - name: Build
+        with:
-          run:  |
+          package-name: "micro_ros_agent"
-            cd /uros_ws
+          target-ros2-distro: ${{ matrix.ros_distribution }}
-            . /opt/ros/$ROS_DISTRO/setup.sh
-            . install/local_setup.sh
-            ros2 run micro_ros_setup build_agent.sh

micro_ros_agent/CHANGELOG.rst

@@ -2,6 +2,18 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+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)
 ------------------
 * Add services to graph manager (`#127 <https://github.com/micro-ROS/micro-ROS-Agent/issues/127>`_) (`#129 <https://github.com/micro-ROS/micro-ROS-Agent/issues/129>`_)

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>3.0.1</version>
+  <version>4.0.2</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/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;
+            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));
@@ -344,8 +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: