4.0.3

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

.github/workflows/ci.yml

@@ -3,7 +3,7 @@ name: CI micro-ROS Agent
 on:
     pull_request:
       branches:
-        - 'main'
+        - 'iron'
     schedule:
       - cron: '33 6 * * *'
 
@@ -14,16 +14,16 @@ jobs:
       strategy:
         fail-fast: false
         matrix:
-          os: [ ubuntu-20.04 ]
+          os: [ ubuntu-latest ]
-          ros_distribution: [ rolling ]
+          ros_distribution: [ iron ]
           include:
-            - docker_image: ubuntu:22.04
+            - docker_image: ubuntu:jammy
-              ros_distribution: rolling
+              ros_distribution: iron
       container:
-        image: ubuntu:22.04
+        image: ubuntu:jammy
       steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
-      - uses: ros-tooling/setup-ros@0.3.2
+      - uses: ros-tooling/setup-ros@0.6.2
         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@0.3.2
         with:
           package-name: "micro_ros_agent"
           target-ros2-distro: ${{ matrix.ros_distribution }}

micro_ros_agent/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.3 (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>`_)

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>4.0.2</version>
+  <version>4.0.3</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

@@ -374,8 +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(
@@ -411,8 +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(