Add stop agent

* Fix graph manager datawriters

Fixes

Fix

Fix destruction

* Revert "Fix graph manager datawriters"

This reverts commit 2847a2ebc3.

* Initial

(cherry picked from commit 646ca52aab)

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

.github/workflows/ci.yml

@@ -3,35 +3,36 @@ name: CI micro-ROS Agent
 on:
     pull_request:
       branches: 
-        - 'rolling'
+        - '**'
-    schedule:
-      - cron: '33 6 * * *'
 
 jobs:
 
     microros_agent_ci:
-      runs-on: ${{ matrix.os }}
+        runs-on: ubuntu-20.04
-      strategy:
+        container: microros/base:foxy
-        fail-fast: false
+
-        matrix:
-          os: [ ubuntu-latest ]
-          ros_distribution: [ rolling ]
-          include:
-            - docker_image: ubuntu:22.04
-              ros_distribution: rolling
-      container:
-        image: ubuntu:22.04
         steps:
-      - uses: actions/checkout@v3
+        - uses: actions/checkout@v2
-      - uses: ros-tooling/setup-ros@0.7.1
           with:
-          use-ros2-testing: false
+            path: urosagent
-          required-ros-distributions: ${{ matrix.ros_distribution }}
+
-      - name : Download and install dependencies
+        - name: Download dependencies
           run: |
-          apt-get install ros-${{ matrix.ros_distribution }}-micro-ros-msgs
+            apt update
-          apt-get install ros-${{ matrix.ros_distribution }}-rmw-fastrtps-cpp
+            cd /uros_ws
-      - uses : ros-tooling/action-ros-ci@0.3.6
+            . /opt/ros/$ROS_DISTRO/setup.sh
-        with:
+            . install/local_setup.sh
-          package-name: "micro_ros_agent"
+            rosdep update
-          target-ros2-distro: ${{ matrix.ros_distribution }}
+            ros2 run micro_ros_setup create_agent_ws.sh 
+        
+        - name: Patch branch
+          run: |
+            rm -rf /uros_ws/src/uros/micro-ROS-Agent/*
+            cp -R urosagent/* /uros_ws/src/uros/micro-ROS-Agent/
+
+        - name: Build
+          run:  |
+            cd /uros_ws
+            . /opt/ros/$ROS_DISTRO/setup.sh
+            . install/local_setup.sh
+            ros2 run micro_ros_setup build_agent.sh 

README.md

@@ -55,4 +55,3 @@ see the file [3rd-party-licenses.txt](3rd-party-licenses.txt).
 Please notice the following issues/limitations:
 
 * There is an unknown issue when dealing with serial ports shared with the micro-ROS agent running inside a Docker. Sometimes it works with a remarkable packet loss.
-* There is an known issues with serial port communication on micro-ros-agent snap version. It is recommended to use the dockerized version or build it from source.

micro_ros_agent/CHANGELOG.rst

@@ -2,55 +2,6 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-5.0.1 (2024-01-29)
-------------------
-* Fix thread include (`#216 <https://github.com/micro-ROS/micro-ROS-Agent/issues/216>`_) (`#218 <https://github.com/micro-ROS/micro-ROS-Agent/issues/218>`_)
-
-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>`_)
-
-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>`_)
-* 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>`_)
-
-3.0.0 (2021-09-13)
-------------------
-
-1.0.1 (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>`_)
-* Modify argument type (`#91 <https://github.com/micro-ROS/micro-ROS-Agent/issues/91>`_)
-* Fix graph manager datawriters behaviour (`#84 <https://github.com/micro-ROS/micro-ROS-Agent/issues/84>`_)
-* Graph manager: Fix participant mask for listener callbacks (`#81 <https://github.com/micro-ROS/micro-ROS-Agent/issues/81>`_)
-* Fix agent launch (`#78 <https://github.com/micro-ROS/micro-ROS-Agent/issues/78>`_)
-* Fix graph manager node namespaces (`#75 <https://github.com/micro-ROS/micro-ROS-Agent/issues/75>`_)
-* Fix Rolling agent (`#61 <https://github.com/micro-ROS/micro-ROS-Agent/issues/61>`_)
-* Add multi domain graph manager (`#69 <https://github.com/micro-ROS/micro-ROS-Agent/issues/69>`_)
-* Add ros2 launch capabilities and example launch file (`#47 <https://github.com/micro-ROS/micro-ROS-Agent/issues/47>`_)
-* Snap build for the micro-ROS-Agent (`#43 <https://github.com/micro-ROS/micro-ROS-Agent/issues/43>`_)
-* Create graph manager after checking passed CLI arguments and launch xrce-dds server (`#41 <https://github.com/micro-ROS/micro-ROS-Agent/issues/41>`_)
-* Contributors: Antonio Cuadros, Jose Antonio Moral, Pablo Garrido, mergify[bot]
-
 0.0.1 (2019-04-24)
 -----------------
 * Initial release

micro_ros_agent/CMakeLists.txt

@@ -19,16 +19,7 @@ option(UROSAGENT_GENERATE_PROFILE
   )
 set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)
 
-option(MICROROSAGENT_SUPERBUILD "Enable superbuild compilation." ON)
-option(UAGENT_USE_SYSTEM_LOGGER "Force use of system installed spdlog logger on superbuild." OFF)
-
-if(NOT MICROROSAGENT_SUPERBUILD)
 project(micro_ros_agent LANGUAGES CXX)
-else()
-    project(uagent_superbuild NONE)
-    include(${PROJECT_SOURCE_DIR}/cmake/SuperBuild.cmake)
-    return()
-endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(microxrcedds_agent REQUIRED)

micro_ros_agent/cmake/Config.cmake.in

@@ -0,0 +1,32 @@
+# Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+set(@PROJECT_NAME@_VERSION @PROJECT_VERSION@)
+
+@PACKAGE_INIT@
+
+if(MSVC OR MSVC_IDE)
+    set_and_check(@PROJECT_NAME@_BIN_DIR "@PACKAGE_BIN_INSTALL_DIR@")
+endif()
+set_and_check(@PROJECT_NAME@_INCLUDE_DIR "@PACKAGE_INCLUDE_INSTALL_DIR@")
+set_and_check(@PROJECT_NAME@_LIB_DIR "@PACKAGE_LIB_INSTALL_DIR@")
+set_and_check(@PROJECT_NAME@_DATA_DIR "@PACKAGE_DATA_INSTALL_DIR@")
+
+foreach(d @_deps@)
+    list(GET d 0 _name)
+    list(GET d 1 _version)
+    find_package(${_name} ${_version} REQUIRED)
+endforeach()
+
+include(${@PROJECT_NAME@_DATA_DIR}/@PROJECT_NAME@/cmake/@PROJECT_NAME@Targets.cmake)

micro_ros_agent/cmake/SuperBuild.cmake

@@ -1,68 +0,0 @@
-# Copyright 2019 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-include(ExternalProject)
-
-unset(_deps)
-
-enable_language(C)
-enable_language(CXX)
-
-unset(xrceagent_DIR CACHE)
-find_package(xrceagent 2 EXACT QUIET)
-if(NOT xrceagent_FOUND)
-    ExternalProject_Add(xrceagent
-            GIT_REPOSITORY
-                https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
-            GIT_TAG
-                ros2
-            PREFIX
-                ${PROJECT_BINARY_DIR}/agent
-            INSTALL_DIR
-                ${CMAKE_INSTALL_PREFIX}
-            CMAKE_CACHE_ARGS
-                -DCMAKE_CXX_COMPILER:FILEPATH=${CMAKE_CXX_COMPILER}
-                -DCMAKE_C_COMPILER:FILEPATH=${CMAKE_C_COMPILER}
-                -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
-                -DCMAKE_C_FLAGS:STRING=${CMAKE_C_FLAGS}
-                -DCMAKE_CXX_FLAGS:STRING=${CMAKE_CXX_FLAGS}
-                -DCMAKE_EXE_LINKER_FLAGS:STRING=${CMAKE_EXE_LINKER_FLAGS}
-                -DCMAKE_SHARED_LINKER_FLAGS:STRING=${CMAKE_SHARED_LINKER_FLAGS}
-                -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR>
-                -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
-                -DCMAKE_PREFIX_PATH:PATH=<INSTALL_DIR>
-                -DCMAKE_SYSTEM_NAME:STRING=${CMAKE_SYSTEM_NAME}
-                -DUAGENT_USE_SYSTEM_FASTDDS:BOOL=ON
-                -DUAGENT_USE_SYSTEM_FASTCDR:BOOL=ON
-                -DUAGENT_USE_SYSTEM_LOGGER:BOOL=${UAGENT_USE_SYSTEM_LOGGER}
-                -DUAGENT_CED_PROFILE:BOOL=OFF
-                -DUAGENT_P2P_PROFILE:BOOL=OFF
-                -DUAGENT_BUILD_EXECUTABLE:BOOL=OFF
-                -DUAGENT_ISOLATED_INSTALL:BOOL=OFF
-            )
-endif()
-
-# Main project.
-ExternalProject_Add(micro_ros_agent
-    SOURCE_DIR
-        ${PROJECT_SOURCE_DIR}
-    BINARY_DIR
-        ${CMAKE_CURRENT_BINARY_DIR}
-    CMAKE_CACHE_ARGS
-        -DMICROROSAGENT_SUPERBUILD:BOOL=OFF
-    INSTALL_COMMAND
-        ""
-    DEPENDS
-        xrceagent
-    )

micro_ros_agent/include/agent/Agent.hpp

@@ -20,10 +20,6 @@
 #include <uxr/agent/middleware/utils/Callbacks.hpp>
 
 #include <agent/graph_manager/graph_manager.hpp>
-
-#include <map>
-#include <memory>
-
 // TODO(jamoralp): class Documentation
 namespace uros {
 namespace agent {
@@ -36,20 +32,103 @@ public:
 
     ~Agent() = default;
 
+    /**
+     * @brief   Agent class shall not be copy constructible.
+     */
+    UXR_AGENT_EXPORT Agent(
+            const Agent &) = delete;
+
+    UXR_AGENT_EXPORT Agent(
+            Agent &&) = delete;
+
+    /**
+     * @brief   Agent class shall not be copy assignable.
+     */
+    UXR_AGENT_EXPORT Agent& operator =(
+            const Agent &) = delete;
+
+    UXR_AGENT_EXPORT Agent& operator =(
+            Agent &&) = delete;
+
+    static Agent& getInstance()
+    {
+        static Agent instance;
+        return instance;
+    }
+
     bool create(
             int argc,
             char** argv);
 
     void run();
 
-private:
+    void stop();
 
+    void add_callbacks();
+
+private:
     eprosima::uxr::AgentInstance& xrce_dds_agent_instance_;
     std::map<eprosima::fastdds::dds::DomainId_t, std::shared_ptr<graph_manager::GraphManager>> graph_manager_map_;
-
     std::shared_ptr<graph_manager::GraphManager> find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id);
+    bool started = false;
 };
 
+template<typename AgentType>
+class AgentAPI
+{
+public:
+    AgentAPI()
+    : agent_instance_(agent_instance_.getInstance())
+    {};
+
+    ~AgentAPI() = default;
+
+    void create(uint16_t port)
+	{
+		xrce_dds_agent_instance_API.configure(port);
+	}
+
+	void create(std::string dev, const std::string baudrate);
+	void create(std::vector<std::string> devs, const std::string baudrate);
+	void create(const std::string baudrate);
+
+    void set_verbose_level(uint8_t verbose_level)
+    {
+        xrce_dds_agent_instance_API.set_verbose_level(verbose_level);
+    }
+
+    void run()
+    {
+        agent_instance_.add_callbacks();
+        xrce_dds_agent_instance_API.run();
+    }
+
+    void stop()
+    {
+        xrce_dds_agent_instance_API.stop();
+    }
+
+private:
+    Agent& agent_instance_;
+    eprosima::uxr::AgentInstanceAPI<AgentType> xrce_dds_agent_instance_API;
+};
+
+template<> inline UXR_AGENT_EXPORT void AgentAPI<eprosima::uxr::TermiosAgent>::create(std::string dev, const std::string baudrate)
+{
+    xrce_dds_agent_instance_API.configure(dev, baudrate);
+}
+
+template<> inline UXR_AGENT_EXPORT void AgentAPI<eprosima::uxr::MultiTermiosAgent>::create(std::vector<std::string> devs, const std::string baudrate)
+{
+    xrce_dds_agent_instance_API.configure(devs, baudrate);
+
+}
+
+template<> inline UXR_AGENT_EXPORT void AgentAPI<eprosima::uxr::PseudoTerminalAgent>::create(const std::string baudrate)
+{
+    xrce_dds_agent_instance_API.configure(baudrate);
+}
+
 }  // namespace agent
 }  // namespace uros
 #endif  // _UROS_AGENT_AGENT_HPP

micro_ros_agent/include/agent/graph_manager/graph_manager.hpp

@@ -12,9 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef _UROS_AGENT_GRAPH_MANAGER_HPP
-#define _UROS_AGENT_GRAPH_MANAGER_HPP
-
 #include "fastrtps/Domain.h"
 #include <fastrtps/TopicDataType.h>
 #include "fastrtps/attributes/ParticipantAttributes.h"
@@ -61,11 +58,8 @@
 #include <agent/graph_manager/graph_typesupport.hpp>
 #include <agent/utils/demangle.hpp>
 
-#include <condition_variable>
+#ifndef _UROS_AGENT_GRAPH_MANAGER_HPP
-#include <string>
+#define _UROS_AGENT_GRAPH_MANAGER_HPP
-#include <memory>
-#include <map>
-#include <thread>
 
 namespace uros {
 namespace agent {
@@ -86,7 +80,16 @@ public:
     /**
      * @brief   Default destructor.
      */
-    ~GraphManager() = default;
+    ~GraphManager()
+    {
+        exit = true;
+        cv_.notify_one();
+
+        if (microros_graph_publisher_.joinable())
+        {
+            microros_graph_publisher_.join();
+        }
+    }
 
     /**
      * @brief   Implementation of the notification logic that updates the micro-ROS graph.
@@ -112,12 +115,6 @@ 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.
@@ -144,6 +141,21 @@ public:
             const eprosima::fastrtps::rtps::GUID_t& participant_guid,
             const eprosima::fastdds::dds::DataWriterQos& writer_qos);
 
+    /**
+     * @brief   Adds a DDS datawriter to the graph tree.
+     * @param   datawriter_guid rtps::GUID_t of the datawriter to be added.
+     * @param   topic_name Name of the topic to which the datawriter sends information to.
+     * @param   type_name Type name of the sent topic.
+     * @param   participant_guid rtps::GUID_t of the participant which owns this datawriter.
+     * @param   writer_qos QOS of the datawriter to be included into the graph tree.
+     */
+    void add_datawriter(
+            const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
+            const std::string& topic_name,
+            const std::string& type_name,
+            const eprosima::fastrtps::rtps::GUID_t& participant_guid,
+            const eprosima::fastdds::dds::WriterQos& writer_qos);
+
     /**
      * @brief   Removes a DDS datawriter from the graph tree.
      * @param   datawriter_guid rtps::GUID_t of the datawriter to be removed.
@@ -177,6 +189,21 @@ public:
             const eprosima::fastrtps::rtps::GUID_t& participant_guid,
             const eprosima::fastdds::dds::DataReaderQos& reader_qos);
 
+    /**
+     * @brief   Adds a DDS datareader to the graph tree.
+     * @param   datareader_guid rtps::GUID_t of the datareader to be added.
+     * @param   topic_name Name of the topic to which the datareader sends information to.
+     * @param   type_name Type name of the sent topic.
+     * @param   participant_guid rtps::GUID_t of the participant which owns this datareader.
+     * @param   writer_qos QOS of the datareader to be included into the graph tree.
+     */
+    void add_datareader(
+            const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
+            const std::string& topic_name,
+            const std::string& type_name,
+            const eprosima::fastrtps::rtps::GUID_t& participant_guid,
+            const eprosima::fastdds::dds::ReaderQos& reader_qos);
+
     /**
      * @brief   Removes a DDS datareader from the graph tree.
      * @param   datareader_guid rtps::GUID_t of the datareader to be removed.
@@ -280,6 +307,7 @@ private:
             std::string& node_name,
             std::string& node_namespace);
 
+    bool exit = false;
     eprosima::fastdds::dds::DomainId_t domain_id_;
     bool graph_changed_;
     bool display_on_change_;
@@ -306,7 +334,7 @@ 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/launch/micro_ros_agent_launch.py

@@ -7,6 +7,6 @@ def generate_launch_description():
             package='micro_ros_agent',
             executable='micro_ros_agent',
             name='micro_ros_agent',
-            arguments=["udp4", "-p", "8888", "-v6"]
+            arguments={"udp4", "-p", "8888", "-v6"}
         )
     ])

micro_ros_agent/package.xml

@@ -2,10 +2,9 @@
 <?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>5.0.1</version>
+  <version>0.0.1</version>
-  <description>micro-ROS Agent package</description>
+  <description>DDS-XCRE agent implementation </description>
-  <maintainer email="pablogarrido@eprosima.com">Pablo Garrido</maintainer>
+  <maintainer email="borjaouterelo@eprosima.com">Borja Outerelo</maintainer>
-  <maintainer email="antoniocuadros@eprosima.com">Antonio Cuadros</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
@@ -15,6 +14,7 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
+  <depend>microxrcedds_agent</depend>
   <depend>rmw</depend>
   <depend>rcutils</depend>
   <depend>rmw_fastrtps_shared_cpp</depend>

micro_ros_agent/src/agent/Agent.cpp

@@ -17,9 +17,6 @@
 
 #include <agent/Agent.hpp>
 
-#include <utility>
-#include <memory>
-
 namespace uros {
 namespace agent {
 
@@ -32,8 +29,12 @@ bool Agent::create(
         int argc,
         char** argv)
 {
-    bool result = xrce_dds_agent_instance_.create(argc, argv);
+    return xrce_dds_agent_instance_.create(argc, argv);
-    if (result)
+}
+
+void Agent::add_callbacks()
+{
+    if (!started)
     {
         /**
          * Add CREATE_PARTICIPANT callback.
@@ -79,9 +80,14 @@ bool Agent::create(
             {
                 auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
 
-                graph_manager_->add_datawriter(datawriter->guid(), participant, datawriter);
+                // TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
+                    datawriter->get_instance_handle();
+                const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
+                    iHandle2GUID(instance_handle);
+                graph_manager_->add_datawriter(datawriter_guid, participant, datawriter);
                 graph_manager_->associate_entity(
-                    datawriter->guid(), participant, dds::xrce::OBJK_DATAWRITER);
+                    datawriter_guid, participant, dds::xrce::OBJK_DATAWRITER);
             });
         xrce_dds_agent_instance_.add_middleware_callback(
             eprosima::uxr::Middleware::Kind::FASTDDS,
@@ -98,10 +104,14 @@ bool Agent::create(
                 const eprosima::fastdds::dds::DomainParticipant* participant,
                 const eprosima::fastdds::dds::DataWriter* datawriter) -> void
             {
-
                 auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
 
-                graph_manager_->remove_datawriter(datawriter->guid());
+                // TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
+                    datawriter->get_instance_handle();
+                const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
+                graph_manager_->remove_datawriter(datawriter_guid);
             });
 
         xrce_dds_agent_instance_.add_middleware_callback(
@@ -160,130 +170,8 @@ bool Agent::create(
             eprosima::uxr::middleware::CallbackKind::DELETE_DATAREADER,
             std::move(on_delete_datareader));
 
-        /**
+        started = true;
-         * Add CREATE_REQUESTER callback.
-         */
-        std::function<void (
-            const eprosima::fastdds::dds::DomainParticipant *,
-            const eprosima::fastdds::dds::DataWriter *,
-            const eprosima::fastdds::dds::DataReader *)> on_create_requester
-            ([&](
-                const eprosima::fastdds::dds::DomainParticipant* participant,
-                const eprosima::fastdds::dds::DataWriter* datawriter,
-                const eprosima::fastdds::dds::DataReader * datareader) -> void
-            {
-                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
-
-                graph_manager_->add_datawriter(datawriter->guid(), participant, datawriter);
-                graph_manager_->associate_entity(
-                    datawriter->guid(), participant, dds::xrce::OBJK_DATAWRITER);
-
-                // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
-                    datareader->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
-                graph_manager_->add_datareader(datareader_guid, participant, datareader);
-                graph_manager_->associate_entity(
-                    datareader_guid, participant, dds::xrce::OBJK_DATAREADER);
-            });
-        xrce_dds_agent_instance_.add_middleware_callback(
-            eprosima::uxr::Middleware::Kind::FASTDDS,
-            eprosima::uxr::middleware::CallbackKind::CREATE_REQUESTER,
-            std::move(on_create_requester));
-
-        /**
-         * Add DELETE_REQUESTER callback.
-         */
-        std::function<void (
-            const eprosima::fastdds::dds::DomainParticipant *,
-            const eprosima::fastdds::dds::DataWriter *,
-            const eprosima::fastdds::dds::DataReader *)> on_delete_requester
-            ([&](
-                const eprosima::fastdds::dds::DomainParticipant* participant,
-                const eprosima::fastdds::dds::DataWriter* datawriter,
-                const eprosima::fastdds::dds::DataReader * datareader) -> void
-            {
-                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
-
-                graph_manager_->remove_datawriter(datawriter->guid());
-
-                // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
-                    datareader->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
-                graph_manager_->remove_datareader(datareader_guid);
-            });
-
-        xrce_dds_agent_instance_.add_middleware_callback(
-            eprosima::uxr::Middleware::Kind::FASTDDS,
-            eprosima::uxr::middleware::CallbackKind::DELETE_REQUESTER,
-            std::move(on_delete_requester));
-
-        /**
-         * Add CREATE_REPLIER callback.
-         */
-        std::function<void (
-            const eprosima::fastdds::dds::DomainParticipant *,
-            const eprosima::fastdds::dds::DataWriter *,
-            const eprosima::fastdds::dds::DataReader *)> on_create_replier
-            ([&](
-                const eprosima::fastdds::dds::DomainParticipant* participant,
-                const eprosima::fastdds::dds::DataWriter* datawriter,
-                const eprosima::fastdds::dds::DataReader * datareader) -> void
-            {
-                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
-
-                graph_manager_->add_datawriter(datawriter->guid(), participant, datawriter);
-                graph_manager_->associate_entity(
-                    datawriter->guid(), participant, dds::xrce::OBJK_DATAWRITER);
-
-                // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
-                    datareader->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
-                graph_manager_->add_datareader(datareader_guid, participant, datareader);
-                graph_manager_->associate_entity(
-                    datareader_guid, participant, dds::xrce::OBJK_DATAREADER);
-            });
-        xrce_dds_agent_instance_.add_middleware_callback(
-            eprosima::uxr::Middleware::Kind::FASTDDS,
-            eprosima::uxr::middleware::CallbackKind::CREATE_REPLIER,
-            std::move(on_create_replier));
-
-        /**
-         * Add DELETE_REPLIER callback.
-         */
-        std::function<void (
-            const eprosima::fastdds::dds::DomainParticipant *,
-            const eprosima::fastdds::dds::DataWriter *,
-            const eprosima::fastdds::dds::DataReader *)> on_delete_replier
-            ([&](
-                const eprosima::fastdds::dds::DomainParticipant* participant,
-                const eprosima::fastdds::dds::DataWriter* datawriter,
-                const eprosima::fastdds::dds::DataReader * datareader) -> void
-            {
-                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
-
-                graph_manager_->remove_datawriter(datawriter->guid());
-
-                // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
-                    datareader->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
-                graph_manager_->remove_datareader(datareader_guid);
-            });
-
-        xrce_dds_agent_instance_.add_middleware_callback(
-            eprosima::uxr::Middleware::Kind::FASTDDS,
-            eprosima::uxr::middleware::CallbackKind::DELETE_REPLIER,
-            std::move(on_delete_replier));
     }
-
-    return result;
 }
 
 void Agent::run()
@@ -291,6 +179,11 @@ void Agent::run()
     return xrce_dds_agent_instance_.run();
 }
 
+void Agent::stop()
+{
+    return xrce_dds_agent_instance_.stop();
+}
+
 std::shared_ptr<graph_manager::GraphManager> Agent::find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id)
 {
 

micro_ros_agent/src/agent/graph_manager/graph_manager.cpp

@@ -17,11 +17,6 @@
 
 #include <agent/graph_manager/graph_manager.hpp>
 
-#include <memory>
-#include <string>
-#include <utility>
-#include <vector>
-
 namespace uros {
 namespace agent {
 namespace graph_manager {
@@ -101,7 +96,7 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
 
     eprosima::fastdds::dds::DataWriterQos ros_to_microros_datawriter_qos_ = datawriter_qos_;
     ros_to_microros_datawriter_qos_.history().kind =
-        eprosima::fastdds::dds::HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
+        eprosima::fastdds::dds::HistoryQosPolicyKind::KEEP_ALL_HISTORY_QOS;
     ros_to_microros_graph_datawriter_.reset(
         publisher_->create_datawriter(ros_to_microros_graph_topic_.get(), ros_to_microros_datawriter_qos_));
 
@@ -125,11 +120,9 @@ 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();
     });
 
@@ -144,9 +137,13 @@ inline void GraphManager::publish_microros_graph()
             std::unique_lock<std::mutex> lock(mtx_);
             cv_.wait(lock, [this]()
             {
-                return this->graph_changed_;
+                return this->graph_changed_ || exit;
             });
-            graph_changed_ = false;
+        }
+
+        if (exit)
+        {
+            break;
         }
         
         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 +372,26 @@ 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,
+    graphCache_.add_entity(datawriter_gid, topic_name,
-        rosidl_get_zero_initialized_type_hash(), participant_gid, qos_profile, false);
+        type_name, participant_gid, qos_profile, false);
+}
+
+void GraphManager::add_datawriter(
+        const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
+        const std::string& topic_name,
+        const std::string& type_name,
+        const eprosima::fastrtps::rtps::GUID_t& participant_guid,
+        const eprosima::fastdds::dds::WriterQos& writer_qos)
+{
+    const rmw_gid_t datawriter_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
+        "rmw_fastrtps_cpp", datawriter_guid);
+    const rmw_gid_t participant_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
+        "rmw_fastrtps_cpp", participant_guid);
+    rmw_qos_profile_t qos_profile = rmw_qos_profile_unknown;
+    dds_qos_to_rmw_qos(writer_qos, &qos_profile);
+
+    graphCache_.add_entity(datawriter_gid, topic_name,
+        type_name, participant_gid, qos_profile, false);
 }
 
 void GraphManager::remove_datawriter(
@@ -411,13 +427,26 @@ 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.
+    graphCache_.add_entity(datareader_gid, topic_name,
-    // Related PRs:
+        type_name, participant_gid, qos_profile, true);
-    // 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
+void GraphManager::add_datareader(
-    graphCache_.add_entity(datareader_gid, topic_name, type_name,
+        const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
-        rosidl_get_zero_initialized_type_hash(), participant_gid, qos_profile, true);
+        const std::string& topic_name,
+        const std::string& type_name,
+        const eprosima::fastrtps::rtps::GUID_t& participant_guid,
+        const eprosima::fastdds::dds::ReaderQos& reader_qos)
+{
+    const rmw_gid_t datareader_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
+        "rmw_fastrtps_cpp", datareader_guid);
+    const rmw_gid_t participant_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
+        "rmw_fastrtps_cpp", participant_guid);
+    rmw_qos_profile_t qos_profile = rmw_qos_profile_unknown;
+    dds_qos_to_rmw_qos(reader_qos, &qos_profile);
+
+    graphCache_.add_entity(datareader_gid, topic_name,
+        type_name, participant_gid, qos_profile, true);
 }
 
 void GraphManager::remove_datareader(
@@ -552,7 +581,7 @@ void GraphManager::update_node_entities_info()
     if (ros_discovery_datareader_->take_next_sample(&entities_info, &sample_info) ==
         eprosima::fastrtps::types::ReturnCode_t::RETCODE_OK)
     {
-        if (sample_info.instance_state == eprosima::fastdds::dds::InstanceStateKind::ALIVE_INSTANCE_STATE)
+        if (sample_info.instance_state == eprosima::fastdds::dds::InstanceStateKind::ALIVE)
         {
             graphCache_.update_participant_entities(entities_info);
         }
@@ -604,7 +633,7 @@ 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)
@@ -621,15 +650,13 @@ 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:
@@ -639,52 +666,6 @@ void GraphManager::ParticipantListener::on_participant_discovery(
     }
 }
 
-static eprosima::fastdds::dds::DataWriterQos writer_qos_conversion(
-    const eprosima::fastdds::dds::WriterQos& writer_qos)
-{
-    eprosima::fastdds::dds::DataWriterQos datawriter_qos;
-    datawriter_qos.durability(writer_qos.m_durability);
-    datawriter_qos.durability_service(writer_qos.m_durabilityService);
-    datawriter_qos.deadline(writer_qos.m_deadline);
-    datawriter_qos.latency_budget(writer_qos.m_latencyBudget);
-    datawriter_qos.liveliness(writer_qos.m_liveliness);
-    datawriter_qos.reliability(writer_qos.m_reliability);
-    datawriter_qos.destination_order(writer_qos.m_destinationOrder);
-    datawriter_qos.lifespan(writer_qos.m_lifespan);
-    datawriter_qos.user_data(writer_qos.m_userData);
-    datawriter_qos.ownership(writer_qos.m_ownership);
-    datawriter_qos.ownership_strength(writer_qos.m_ownershipStrength);
-    datawriter_qos.publish_mode(writer_qos.m_publishMode);
-    datawriter_qos.representation(writer_qos.representation);
-    datawriter_qos.data_sharing(writer_qos.data_sharing);
-
-    return datawriter_qos;
-}
-
-static eprosima::fastdds::dds::DataReaderQos reader_qos_conversion(
-    const eprosima::fastdds::dds::ReaderQos& reader_qos)
-{
-    eprosima::fastdds::dds::DataReaderQos datareader_qos;
-
-    datareader_qos.durability(reader_qos.m_durability);
-    datareader_qos.deadline(reader_qos.m_deadline);
-    datareader_qos.latency_budget(reader_qos.m_latencyBudget);
-    datareader_qos.liveliness(reader_qos.m_liveliness);
-    datareader_qos.reliability(reader_qos.m_reliability);
-    datareader_qos.destination_order(reader_qos.m_destinationOrder);
-    datareader_qos.user_data(reader_qos.m_userData);
-    datareader_qos.ownership(reader_qos.m_ownership);
-    datareader_qos.time_based_filter(reader_qos.m_timeBasedFilter);
-    datareader_qos.lifespan(reader_qos.m_lifespan);
-    datareader_qos.durability_service(reader_qos.m_durabilityService);
-    eprosima::fastdds::dds::TypeConsistencyQos consistency;
-    consistency.type_consistency = reader_qos.type_consistency;
-    datareader_qos.type_consistency(consistency);
-    datareader_qos.data_sharing(reader_qos.data_sharing);
-
-    return datareader_qos;
-}
-
 template <>
 void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtps::rtps::ReaderDiscoveryInfo>(
         const eprosima::fastrtps::rtps::ReaderDiscoveryInfo& reader_info)
@@ -701,7 +682,7 @@ void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtp
             const std::string type_name = reader_info.info.typeName().to_string();
 
             graphManager_from_->add_datareader(reader_info.info.guid(), topic_name, type_name,
-                iHandle2GUID(reader_info.info.RTPSParticipantKey()), reader_qos_conversion(reader_info.info.m_qos));
+                iHandle2GUID(reader_info.info.RTPSParticipantKey()), reader_info.info.m_qos);
             break;
         }
         default:
@@ -728,7 +709,7 @@ void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtp
             const std::string type_name = writer_info.info.typeName().to_string();
 
             graphManager_from_->add_datawriter(writer_info.info.guid(), topic_name, type_name,
-                iHandle2GUID(writer_info.info.RTPSParticipantKey()), writer_qos_conversion(writer_info.info.m_qos));
+                iHandle2GUID(writer_info.info.RTPSParticipantKey()), writer_info.info.m_qos);
             break;
         }
         default:

micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp

@@ -17,8 +17,6 @@
 
 #include <agent/graph_manager/graph_typesupport.hpp>
 
-#include <string>
-
 namespace uros {
 namespace agent {
 namespace graph_manager {
@@ -43,7 +41,7 @@ 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 +133,7 @@ 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);
 }
 

micro_ros_agent/src/main.cpp

@@ -14,9 +14,6 @@
 
 #include <agent/Agent.hpp>
 
-#include <string>
-#include <vector>
-
 int main(int argc, char** argv)
 {
     uros::agent::Agent micro_ros_agent;