5.0.0

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

micro_ros_agent/CHANGELOG.rst

@@ -2,6 +2,16 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+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>`_)

micro_ros_agent/include/agent/graph_manager/graph_manager.hpp

@@ -305,7 +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>4.0.1</version>
+  <version>5.0.0</version>
   <description>micro-ROS Agent package</description>
   <maintainer email="pablogarrido@eprosima.com">Pablo Garrido</maintainer>
   <maintainer email="antoniocuadros@eprosima.com">Antonio Cuadros</maintainer>

micro_ros_agent/src/agent/graph_manager/graph_manager.cpp

@@ -125,9 +125,11 @@ 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;
+        }
         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));
@@ -344,9 +345,10 @@ 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);
     }
+}
 
 void GraphManager::add_datawriter(
         const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
@@ -372,8 +374,8 @@ 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,
+    graphCache_.add_entity(datawriter_gid, topic_name, type_name,
-        type_name, participant_gid, qos_profile, false);
+        rosidl_get_zero_initialized_type_hash(), participant_gid, qos_profile, false);
 }
 
 void GraphManager::remove_datawriter(
@@ -409,8 +411,13 @@ 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,
+    // TODO(acuadros95): Use typesupport to calculate type hash on micro-ROS and save and get it from reader_qos.user_data.
-        type_name, participant_gid, qos_profile, true);
+    // 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(