3.0.2

* Modify CI

* Update

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

* Update

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

* Update .github/workflows/ci.yml

* Update .github/workflows/ci.yml

* Modify CI

* Update to ubuntu latest

* Use pre-release repository

* Use ubuntu-20.04

* Fix

* Revert changes

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

.github/workflows/ci.yml

@@ -3,24 +3,24 @@ name: CI micro-ROS Agent
 on:
     pull_request:
       branches:
-        - 'main'
+        - 'humble'
     schedule:
       - cron: '33 6 * * *'
 
 jobs:
 
     microros_agent_ci:
-      runs-on: ${{ matrix.os }}
+      runs-on: ubuntu-latest
       strategy:
         fail-fast: false
         matrix:
           os: [ ubuntu-20.04 ]
-          ros_distribution: [ rolling ]
+          ros_distribution: [ humble ]
           include:
-            - docker_image: ubuntu:22.04
+            - docker_image: ubuntu:jammy
-              ros_distribution: rolling
+              ros_distribution: humble
       container:
-        image: ubuntu:22.04
+        image: ubuntu:jammy
       steps:
       - uses: actions/checkout@v2
       - uses: ros-tooling/setup-ros@0.3.2

micro_ros_agent/CHANGELOG.rst

@@ -2,11 +2,7 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-4.0.1 (2022-06-13)
+3.0.2 (2022-05-25)
-------------------
-* 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/include/agent/graph_manager/graph_manager.hpp

@@ -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.

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>4.0.1</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/graph_manager/graph_manager.cpp

@@ -597,7 +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)
@@ -614,15 +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_->add_participant(participant, false, enclave);
-            graphManager_from_->get_graph_cache().add_participant(gid, 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_->remove_participant(participant, false);
-            graphManager_from_->get_graph_cache().remove_participant(gid);
             break;
         }
         default: