2.0.3

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

.github/workflows/ci.yml

@@ -3,27 +3,27 @@ name: CI micro-ROS Agent
 on:
     pull_request:
       branches:
-        - 'iron'
+        - 'galactic'
     schedule:
       - cron: '33 6 * * *'
 
 jobs:
 
     microros_agent_ci:
-      runs-on: ${{ matrix.os }}
+      runs-on: ubuntu-20.04
       strategy:
         fail-fast: false
         matrix:
-          os: [ ubuntu-latest ]
-          ros_distribution: [ iron ]
+          os: [ ubuntu-20.04 ]
+          ros_distribution: [ galactic ]
           include:
-            - docker_image: ubuntu:jammy
-              ros_distribution: iron
+            - docker_image: ubuntu:20.04
+              ros_distribution: galactic
       container:
-        image: ubuntu:jammy
+        image: ubuntu:20.04
       steps:
-      - uses: actions/checkout@v3
-      - uses: ros-tooling/setup-ros@0.7.1
+      - uses: actions/checkout@v2
+      - uses: ros-tooling/setup-ros@0.3.2
         with:
           use-ros2-testing: false
           required-ros-distributions: ${{ matrix.ros_distribution }}
@@ -31,7 +31,8 @@ jobs:
         run: |
           apt-get install ros-${{ matrix.ros_distribution }}-micro-ros-msgs
           apt-get install ros-${{ matrix.ros_distribution }}-rmw-fastrtps-cpp
-      - uses : ros-tooling/action-ros-ci@0.3.6
+      - uses : ros-tooling/action-ros-ci@0.2.5
         with:
           package-name: "micro_ros_agent"
           target-ros2-distro: ${{ matrix.ros_distribution }}
+

micro_ros_agent/CHANGELOG.rst

@@ -2,48 +2,24 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-4.0.4 (2024-01-29)
+2.0.3 (2022-06-13)
 ------------------
-* Fix thread include (`#216 <https://github.com/micro-ROS/micro-ROS-Agent/issues/216>`_)
-  * Fix thread include
-  * Update CI
-  * Revert "Fix thread include"
-  This reverts commit 1427fb6246c46a0b5851a017ddc886abd80d895b.
-  * fix
-  * Fix
-  ---------
-* Contributors: Pablo Garrido
+* Fix memory leak in graph manager (`#147 <https://github.com/micro-ROS/micro-ROS-Agent/issues/147>`_) (`#150 <https://github.com/micro-ROS/micro-ROS-Agent/issues/150>`_)
 
-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>`_)
-* 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)
+2.0.2 (2022-05-25)
 ------------------
 
-3.0.1 (2022-03-25)
+2.0.1 (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>`_)
-* Add used missing includes (`#116 <https://github.com/micro-ROS/micro-ROS-Agent/issues/116>`_) (`#124 <https://github.com/micro-ROS/micro-ROS-Agent/issues/124>`_)
-* Add system logger flag (`#118 <https://github.com/micro-ROS/micro-ROS-Agent/issues/118>`_) (`#119 <https://github.com/micro-ROS/micro-ROS-Agent/issues/119>`_)
-* Add condition variable include (`#113 <https://github.com/micro-ROS/micro-ROS-Agent/issues/113>`_) (`#114 <https://github.com/micro-ROS/micro-ROS-Agent/issues/114>`_)
-* pass system name to xrceagent (`#110 <https://github.com/micro-ROS/micro-ROS-Agent/issues/110>`_) (`#112 <https://github.com/micro-ROS/micro-ROS-Agent/issues/112>`_)
-* Fix memory leak in FastDDS datawriter (`#107 <https://github.com/micro-ROS/micro-ROS-Agent/issues/107>`_) (`#109 <https://github.com/micro-ROS/micro-ROS-Agent/issues/109>`_)
+* Add services to graph manager (`#127 <https://github.com/micro-ROS/micro-ROS-Agent/issues/127>`_)
+* Add used missing includes (`#116 <https://github.com/micro-ROS/micro-ROS-Agent/issues/116>`_) (`#125 <https://github.com/micro-ROS/micro-ROS-Agent/issues/125>`_)
+* Add system logger flag (`#118 <https://github.com/micro-ROS/micro-ROS-Agent/issues/118>`_)
+* Add condition variable include (`#113 <https://github.com/micro-ROS/micro-ROS-Agent/issues/113>`_)
+* pass system name to xrceagent (`#110 <https://github.com/micro-ROS/micro-ROS-Agent/issues/110>`_)
+* Fix memory leak in FastDDS datawriter (`#107 <https://github.com/micro-ROS/micro-ROS-Agent/issues/107>`_)
+* Contributors: Antonio Cuadros, Pablo Garrido, Roland Schwan, mergify[bot]
 
-3.0.0 (2021-09-13)
-------------------
-
-1.0.1 (2021-09-13)
+2.0.0 (2021-09-13)
 ------------------
 * Remove XRCE dependency and add superbuild (`#97 <https://github.com/micro-ROS/micro-ROS-Agent/issues/97>`_)
 * Fixed launch file by using a list for arguments. Ensures order of items is kept. (`#93 <https://github.com/micro-ROS/micro-ROS-Agent/issues/93>`_) (`#94 <https://github.com/micro-ROS/micro-ROS-Agent/issues/94>`_)

micro_ros_agent/include/agent/graph_manager/graph_manager.hpp

@@ -65,7 +65,6 @@
 #include <string>
 #include <memory>
 #include <map>
-#include <thread>
 
 namespace uros {
 namespace agent {
@@ -306,7 +305,7 @@ 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>4.0.4</version>
+  <version>2.0.3</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

@@ -125,11 +125,9 @@ 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();
     });
 
@@ -146,7 +144,6 @@ inline void GraphManager::publish_microros_graph()
             {
                 return this->graph_changed_;
             });
-            graph_changed_ = false;
         }
 
         if (display_on_change_)
@@ -154,6 +151,7 @@ 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;
 
@@ -322,10 +320,11 @@ 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 +344,8 @@ 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(
@@ -374,8 +372,8 @@ 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, type_name,
-        rosidl_get_zero_initialized_type_hash(), participant_gid, qos_profile, false);
+    graphCache_.add_entity(datawriter_gid, topic_name,
+        type_name, participant_gid, qos_profile, false);
 }
 
 void GraphManager::remove_datawriter(
@@ -411,13 +409,8 @@ void GraphManager::add_datareader(
         "rmw_fastrtps_cpp", participant_guid);
     const rmw_qos_profile_t qos_profile = fastdds_qos_to_rmw_qos(reader_qos);
 
-    // TODO(acuadros95): Use typesupport to calculate type hash on micro-ROS and save and get it from reader_qos.user_data.
-    // 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);
+    graphCache_.add_entity(datareader_gid, topic_name,
+        type_name, participant_gid, qos_profile, true);
 }
 
 void GraphManager::remove_datareader(

micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp

@@ -43,7 +43,7 @@ ParticipantEntitiesInfoTypeSupport::ParticipantEntitiesInfoTypeSupport()
     ss << "dds_::" << message_name << "_";
     this->setName(ss.str().c_str());
 
-    char full_bounded;
+    bool full_bounded = true;
     m_typeSize = 4 + callbacks_->max_serialized_size(full_bounded);
 }
 
@@ -135,7 +135,7 @@ MicrorosGraphInfoTypeSupport::MicrorosGraphInfoTypeSupport()
     ss << "dds_::" << message_name << "_";
     this->setName(ss.str().c_str());
 
-    char full_bounded;
+    bool full_bounded = true;
     m_typeSize = 4 + callbacks_->max_serialized_size(full_bounded);
 }