Update graph destructor

Keep graph manager alive until destruction
Add clear to graph manager
2026-09-06 18:05:17 +02:00 · 2021-07-28 12:28:48 +02:00 · 2021-07-28 10:01:55 +02:00 · 2021-07-28 07:51:36 +02:00 · 2021-07-27 16:02:09 +02:00 · 2021-07-27 15:48:45 +02:00
16 changed files with 543 additions and 727 deletions
@@ -12,7 +12,7 @@ assignees: ''
 - Hardware description: <!-- hardware where you are using micro-ROS -->
 - RTOS: <!-- RTOS where you are using micro-ROS -->
 - Installation type: <!-- micro_ros_setup, modules, etc  -->
- Version or commit hash: <!-- version of micro-ROS used: humble, jazzy, kilted, rolling  -->
+- Version or commit hash: <!-- version of micro-ROS used: foxy, rolling  -->

 #### Steps to reproduce the issue
 <!-- Detailed instructions on how to reliably reproduce this issue http://sscce.org/-->
@@ -2,36 +2,37 @@ name: CI micro-ROS Agent

 on:
    pull_request:
-      branches:
-        - 'kilted'
-    schedule:
-      - cron: '33 6 * * *'
+      branches: 
+        - '**'

 jobs:

    microros_agent_ci:
-      runs-on: ${{ matrix.os }}
-      strategy:
-        fail-fast: false
-        matrix:
-          os: [ ubuntu-latest ]
-          ros_distribution: [ kilted ]
-          include:
-            - docker_image: ubuntu:24.04
-              ros_distribution: kilted
-      container:
-        image: ${{ matrix.docker_image }}
-      steps:
-      - uses: actions/checkout@v4
-      - uses: ros-tooling/setup-ros@0.7.13
-        with:
-          use-ros2-testing: false
-          required-ros-distributions: ${{ matrix.ros_distribution }}
-      - name : Download and install dependencies
-        run: |
-          apt-get install ros-${{ matrix.ros_distribution }}-micro-ros-msgs
-          apt-get install ros-${{ matrix.ros_distribution }}-rmw-fastrtps-cpp
-      - uses : ros-tooling/action-ros-ci@0.4.3
-        with:
-          package-name: "micro_ros_agent"
-          target-ros2-distro: ${{ matrix.ros_distribution }}
+        runs-on: ubuntu-20.04
+        container: microros/base:rolling
+
+        steps:
+        - uses: actions/checkout@v2
+          with:
+            path: urosagent
+
+        - name: Download dependencies
+          run: |
+            apt update
+            cd /uros_ws
+            . /opt/ros/$ROS_DISTRO/setup.sh
+            . install/local_setup.sh
+            rosdep update
+            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 
@@ -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.
@@ -2,68 +2,6 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

-6.1.0 (2025-07-10)
------------------
-* Use target_link_libraries instead of ament_target_dependencies (`#253 <https://github.com/micro-ROS/micro-ROS-Agent/issues/253>`_)
-* Remove fastrtps_cmake_module from CMakeLists.txt (`#248 <https://github.com/micro-ROS/micro-ROS-Agent/issues/248>`_)
-* bump Micro XRCE-DDS Agent (`#245 <https://github.com/micro-ROS/micro-ROS-Agent/issues/245>`_)
-* Undo changes in micro-ros agent compilation (`#239 <https://github.com/micro-ROS/micro-ROS-Agent/issues/239>`_)
-* Update SuperBuild.cmake (`#238 <https://github.com/micro-ROS/micro-ROS-Agent/issues/238>`_)
-* Bump micro-ROS-Agent to Fast DDS v3.0.1 (`#237 <https://github.com/micro-ROS/micro-ROS-Agent/issues/237>`_)
-
-6.0.0 (2024-05-31)
------------------
-* Bump Micro XRCE-DDS Agent (`#226 <https://github.com/micro-ROS/micro-ROS-Agent/issues/226>`_)
-
-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
@@ -14,27 +14,22 @@

 cmake_minimum_required(VERSION 3.5)

+option(BUILD_SHARED_LIBS "Control shared/static building." ON)
+option(UBUILD_AGENT_EXECUTABLE "Control shared/static building." ON)
+
 option(UROSAGENT_GENERATE_PROFILE
  "Generates agent.refs according to the .msgs provided in the .repos" OFF
  )
 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()
+project(micro_ros_agent LANGUAGES CXX)

 find_package(ament_cmake REQUIRED)
 find_package(microxrcedds_agent REQUIRED)
 find_package(rosidl_cmake REQUIRED)
 find_package(fastcdr REQUIRED)
-find_package(fastdds REQUIRED)
+find_package(fastrtps REQUIRED)
+find_package(fastrtps_cmake_module REQUIRED)
 find_package(rmw_dds_common REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rcutils REQUIRED)
@@ -49,59 +44,50 @@ find_package(ament_cmake_gtest REQUIRED)

 find_package(micro_ros_msgs REQUIRED)

-add_executable(${PROJECT_NAME}
-  src/main.cpp
+include(GNUInstallDirs)
+set(BIN_INSTALL_DIR     ${CMAKE_INSTALL_BINDIR}     CACHE PATH "Installation directory for binaries")
+set(INCLUDE_INSTALL_DIR ${CMAKE_INSTALL_INCLUDEDIR} CACHE PATH "Installation directory for C headers")
+set(LIB_INSTALL_DIR     ${CMAKE_INSTALL_LIBDIR}     CACHE PATH "Installation directory for libraries")
+set(DATA_INSTALL_DIR    ${CMAKE_INSTALL_DATADIR}    CACHE PATH "Installation directory for data")
+
+# Set source files
+set(SRCS
  src/agent/Agent.cpp
  src/agent/graph_manager/graph_manager.cpp
  src/agent/graph_manager/graph_typesupport.cpp
  src/agent/utils/demangle.cpp
  )

-target_include_directories(${PROJECT_NAME}
+# Library
+add_library(${PROJECT_NAME} ${SRCS})
+
+target_include_directories(${PROJECT_NAME} BEFORE
+  PUBLIC
+    $<INSTALL_INTERFACE:${INCLUDE_INSTALL_DIR}>
  PRIVATE
    include
  )

-target_link_libraries(${PROJECT_NAME}
-  ${micro_ros_msgs_TARGETS}
-  ${rmw_dds_common_TARGETS}
-  rmw::rmw
-  rmw_dds_common::rmw_dds_common_library
-  rmw_fastrtps_shared_cpp::rmw_fastrtps_shared_cpp
-  rosidl_runtime_cpp::rosidl_runtime_cpp
-  rosidl_typesupport_cpp::rosidl_typesupport_cpp
-  rosidl_typesupport_fastrtps_cpp::rosidl_typesupport_fastrtps_cpp
+ament_target_dependencies(${PROJECT_NAME}
+  rosidl_typesupport_fastrtps_cpp
+  rosidl_runtime_cpp
+  rosidl_typesupport_cpp
+  fastcdr
+  fastrtps
+  rmw_dds_common
+  rmw
+  rmw_fastrtps_shared_cpp
+  micro_ros_msgs
  )

 target_link_libraries(${PROJECT_NAME}
  microxrcedds_agent
  fastcdr
-  fastdds
+  fastrtps
  $<$<BOOL:$<PLATFORM_ID:Linux>>:rt>
  $<$<BOOL:$<PLATFORM_ID:Linux>>:dl>
  )

-target_compile_options(${PROJECT_NAME}
-  PRIVATE
-    $<$<C_COMPILER_ID:GNU>:-Wall>
-    $<$<C_COMPILER_ID:GNU>:-Wextra>
-    $<$<C_COMPILER_ID:GNU>:-pedantic>
-  )
-
-set_target_properties(${PROJECT_NAME} PROPERTIES
-  CXX_STANDARD
-    14
-  CXX_STANDARD_REQUIRED
-    YES
-  )
-
-set_target_properties(${PROJECT_NAME} PROPERTIES
-  CXX_STANDARD
-    14
-  CXX_STANDARD_REQUIRED
-    YES
-  )
-
 target_compile_options(${PROJECT_NAME}
  PRIVATE
    $<$<OR:$<CXX_COMPILER_ID:GNU>,$<CXX_COMPILER_ID:Clang>>:-Wall>
@@ -109,24 +95,105 @@ target_compile_options(${PROJECT_NAME}
    $<$<OR:$<CXX_COMPILER_ID:GNU>,$<CXX_COMPILER_ID:Clang>>:-Wpedantic>
  )

+set_target_properties(${PROJECT_NAME} PROPERTIES
+  CXX_STANDARD
+    14
+  CXX_STANDARD_REQUIRED
+    YES
+  )
+
+# Install agent lib
+install(
+    TARGETS
+        ${PROJECT_NAME}
+    EXPORT
+        ${PROJECT_NAME}Targets
+    RUNTIME DESTINATION
+        ${BIN_INSTALL_DIR}
+    LIBRARY DESTINATION
+        ${LIB_INSTALL_DIR}
+    ARCHIVE DESTINATION
+        ${LIB_INSTALL_DIR}
+    COMPONENT
+        libraries
+    )
+
+# Install includes
+install(
+    DIRECTORY
+        ${PROJECT_SOURCE_DIR}/include/agent
+    DESTINATION
+        ${INCLUDE_INSTALL_DIR}
+    FILES_MATCHING
+        PATTERN "*.hpp"
+        PATTERN "*.h"
+    )
+
+# Export library
+install(
+  EXPORT
+      ${PROJECT_NAME}Targets
+  DESTINATION
+      ${DATA_INSTALL_DIR}/${PROJECT_NAME}/cmake
+  )
+
+# Package configuration
+include(CMakePackageConfigHelpers)
+
+configure_package_config_file(
+      ${PROJECT_SOURCE_DIR}/cmake/Config.cmake.in
+        ${PROJECT_BINARY_DIR}/cmake/config/${PROJECT_NAME}Config.cmake
+    INSTALL_DESTINATION
+        ${DATA_INSTALL_DIR}/${PROJECT_NAME}/cmake
+    PATH_VARS
+        BIN_INSTALL_DIR
+        INCLUDE_INSTALL_DIR
+        LIB_INSTALL_DIR
+        DATA_INSTALL_DIR
+    )
+
+install(
+  FILES
+      ${PROJECT_BINARY_DIR}/cmake/config/${PROJECT_NAME}Config.cmake
+  DESTINATION
+      ${DATA_INSTALL_DIR}/${PROJECT_NAME}/cmake
+  )
+
+if(UBUILD_AGENT_EXECUTABLE)
+  add_executable(micro_ros_agent_bin
+    ${SRCS}
+    src/main.cpp
+    )
+
+  target_include_directories(micro_ros_agent_bin
+    PRIVATE
+      $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+    )
+
+  target_link_libraries(micro_ros_agent_bin ${PROJECT_NAME})
+
+  set_target_properties(micro_ros_agent_bin
+      PROPERTIES OUTPUT_NAME ${PROJECT_NAME})
+
+  install(
+    TARGETS
+      micro_ros_agent_bin
+    DESTINATION
+      lib/${PROJECT_NAME}
+    )
+
+  install(
+    DIRECTORY
+      launch
+    DESTINATION
+      share/${PROJECT_NAME}
+    )
+endif()
+
 ament_export_dependencies(microxrcedds_agent)

 ament_package()

-install(
-  TARGETS
-    ${PROJECT_NAME}
-  DESTINATION
-    lib/${PROJECT_NAME}
-  )
-
-install(
-  DIRECTORY
-    launch
-  DESTINATION
-    share/${PROJECT_NAME}
-  )
-
 if(UROSAGENT_GENERATE_PROFILE)
  set(_OUTPUT_PATH "${CMAKE_CURRENT_BINARY_DIR}/python")

@@ -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)
@@ -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 3 EXACT QUIET)
-if(NOT xrceagent_FOUND)
-    ExternalProject_Add(xrceagent
-            GIT_REPOSITORY
-                https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
-            GIT_TAG
-                v3.0.1
-            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
-    )
@@ -20,21 +20,32 @@
 #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 {

 class Agent
 {
-public:
-
+private:
    Agent();

-    ~Agent() = default;
+    ~Agent()
+    {
+        stop();
+    }
+    
+    Agent(const Agent &) = delete;
+
+    Agent(Agent &&) = delete;
+
+    Agent& operator =(
+            const Agent &) = delete;
+
+    Agent& operator =(
+            Agent &&) = delete;
+
+public:
+    static Agent& getInstance();

    bool create(
            int argc,
@@ -42,12 +53,14 @@ public:

    void run();

+    void stop();
+
 private:
-
+    bool initialized = false;
    eprosima::uxr::AgentInstance& xrce_dds_agent_instance_;
-    std::map<eprosima::fastdds::dds::DomainId_t, std::shared_ptr<graph_manager::GraphManager>> graph_manager_map_;
+    std::map<eprosima::fastdds::dds::DomainId_t, graph_manager::GraphManager> graph_manager_map_;

-    std::shared_ptr<graph_manager::GraphManager> find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id);
+    graph_manager::GraphManager* find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id);
 };

 }  // namespace agent
@@ -12,28 +12,28 @@
 // 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"
+#include "fastrtps/participant/Participant.h"
+#include "fastrtps/participant/ParticipantListener.h"
+#include "fastrtps/attributes/PublisherAttributes.h"
+#include "fastrtps/publisher/Publisher.h"
+#include <fastrtps/publisher/PublisherListener.h>
+#include <fastrtps/rtps/common/MatchingInfo.h>

-#include "fastdds/dds/topic/TopicDataType.hpp"
-#include "fastdds/rtps/attributes/RTPSParticipantAttributes.hpp"
-#include "fastdds/rtps/participant/RTPSParticipant.hpp"
-#include "fastdds/rtps/participant/RTPSParticipantListener.hpp"
-#include "fastdds/rtps/RTPSDomain.hpp"
 #include <fastdds/dds/domain/DomainParticipant.hpp>
 #include <fastdds/dds/domain/DomainParticipantFactory.hpp>
 #include <fastdds/dds/domain/DomainParticipantListener.hpp>
 #include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
 #include <fastdds/dds/publisher/DataWriter.hpp>
-#include <fastdds/dds/publisher/Publisher.hpp>
-#include <fastdds/dds/publisher/PublisherListener.hpp>
 #include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
+#include <fastdds/dds/publisher/Publisher.hpp>
 #include <fastdds/dds/subscriber/DataReader.hpp>
-#include <fastdds/dds/subscriber/DataReaderListener.hpp>
 #include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
 #include <fastdds/dds/subscriber/SampleInfo.hpp>
 #include <fastdds/dds/subscriber/Subscriber.hpp>
-#include <fastdds/rtps/common/MatchingInfo.hpp>
+#include <fastdds/dds/subscriber/DataReaderListener.hpp>

 #include "rmw/types.h"
 #include "rmw/names_and_types.h"
@@ -58,11 +58,8 @@
 #include <agent/graph_manager/graph_typesupport.hpp>
 #include <agent/utils/demangle.hpp>

-#include <condition_variable>
-#include <string>
-#include <memory>
-#include <map>
-#include <thread>
+#ifndef _UROS_AGENT_GRAPH_MANAGER_HPP
+#define _UROS_AGENT_GRAPH_MANAGER_HPP

 namespace uros {
 namespace agent {
@@ -85,6 +82,28 @@ public:
     */
    ~GraphManager() = default;

+	void stop()
+	{
+		if (microros_graph_publisher_.joinable())
+		{
+			exit = true;
+        	cv_.notify_one();
+			microros_graph_publisher_.join();
+		}
+
+        subscriber_->delete_datareader(ros_discovery_datareader_);
+		publisher_->delete_datawriter(ros_to_microros_graph_datawriter_);
+
+		participant_->delete_subscriber(subscriber_);
+		participant_->delete_publisher(publisher_);
+
+		// Delete topics
+		participant_->delete_topic(ros_discovery_topic_);
+		participant_->delete_topic(ros_to_microros_graph_topic_);
+
+		eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->delete_participant(participant_);
+	}
+
    /**
     * @brief   Implementation of the notification logic that updates the micro-ROS graph.
     */
@@ -109,12 +128,6 @@ 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.
@@ -122,7 +135,7 @@ public:
     * @param   datawriter Pointer to the datawriter to be added.
     */
    void add_datawriter(
-            const eprosima::fastdds::rtps::GUID_t& datawriter_guid,
+            const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
            const eprosima::fastdds::dds::DomainParticipant* participant,
            const eprosima::fastdds::dds::DataWriter* datawriter);

@@ -135,10 +148,10 @@ public:
     * @param   writer_qos QOS of the datawriter to be included into the graph tree.
     */
    void add_datawriter(
-            const eprosima::fastdds::rtps::GUID_t& datawriter_guid,
+            const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
            const std::string& topic_name,
            const std::string& type_name,
-            const eprosima::fastdds::rtps::GUID_t& participant_guid,
+            const eprosima::fastrtps::rtps::GUID_t& participant_guid,
            const eprosima::fastdds::dds::DataWriterQos& writer_qos);

    /**
@@ -146,7 +159,7 @@ public:
     * @param   datawriter_guid rtps::GUID_t of the datawriter to be removed.
     */
    void remove_datawriter(
-            const eprosima::fastdds::rtps::GUID_t& datawriter_guid);
+            const eprosima::fastrtps::rtps::GUID_t& datawriter_guid);

    /**
     * @brief   Adds a DDS datareader to the graph tree.
@@ -155,7 +168,7 @@ public:
     * @param   datareader Pointer to the datareader to be added.
     */
    void add_datareader(
-            const eprosima::fastdds::rtps::GUID_t& datareader_guid,
+            const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
            const eprosima::fastdds::dds::DomainParticipant* participant,
            const eprosima::fastdds::dds::DataReader* datareader);

@@ -165,13 +178,13 @@ public:
     * @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   reader_qos QOS of the datareader to be included into the graph tree.
+     * @param   writer_qos QOS of the datareader to be included into the graph tree.
     */
    void add_datareader(
-            const eprosima::fastdds::rtps::GUID_t& datareader_guid,
+            const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
            const std::string& topic_name,
            const std::string& type_name,
-            const eprosima::fastdds::rtps::GUID_t& participant_guid,
+            const eprosima::fastrtps::rtps::GUID_t& participant_guid,
            const eprosima::fastdds::dds::DataReaderQos& reader_qos);

    /**
@@ -179,7 +192,7 @@ public:
     * @param   datareader_guid rtps::GUID_t of the datareader to be removed.
     */
    void remove_datareader(
-            const  eprosima::fastdds::rtps::GUID_t& datareader_guid);
+            const  eprosima::fastrtps::rtps::GUID_t& datareader_guid);

    /**
     * @brief   Associates a certain DDS entity with a provided participant.
@@ -188,7 +201,7 @@ public:
     * @param   entity_kind Kind of the DDS entity.
     */
    void associate_entity(
-            const eprosima::fastdds::rtps::GUID_t& entity_guid,
+            const eprosima::fastrtps::rtps::GUID_t& entity_guid,
            const eprosima::fastdds::dds::DomainParticipant* participant,
            const dds::xrce::ObjectKind& entity_kind);

@@ -209,28 +222,21 @@ private:
                GraphManager* graph_manager);
    private:

-        template <typename DiscoveryStatus, typename Info>
+        template <typename Info>
        void process_discovery_info(
-                DiscoveryStatus reason,
                const Info& proxyData);

        void on_participant_discovery(
                eprosima::fastdds::dds::DomainParticipant* participant,
-                eprosima::fastdds::rtps::ParticipantDiscoveryStatus reason,
-                const eprosima::fastdds::dds::ParticipantBuiltinTopicData& info,
-                bool& should_be_ignored) override;
+                eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info) override;

-        void on_data_reader_discovery(
-                eprosima::fastdds::dds::DomainParticipant* participant,
-                eprosima::fastdds::rtps::ReaderDiscoveryStatus reason,
-                const eprosima::fastdds::dds::SubscriptionBuiltinTopicData& info,
-                bool& should_be_ignored) override;
+        void on_subscriber_discovery(
+                eprosima::fastdds::dds::DomainParticipant* /*participant*/,
+                eprosima::fastrtps::rtps::ReaderDiscoveryInfo&& info) override;

-        void on_data_writer_discovery(
-                eprosima::fastdds::dds::DomainParticipant* participant,
-                eprosima::fastdds::rtps::WriterDiscoveryStatus reason,
-                const eprosima::fastdds::dds::PublicationBuiltinTopicData& info,
-                bool& should_be_ignored) override;
+        void on_publisher_discovery(
+                eprosima::fastdds::dds::DomainParticipant* /*participant*/,
+                eprosima::fastrtps::rtps::WriterDiscoveryInfo&& info) override;

        GraphManager* graphManager_from_;
    };
@@ -290,23 +296,24 @@ private:
    std::thread microros_graph_publisher_;
    std::mutex mtx_;
    std::condition_variable cv_;
+    volatile bool exit = false;

    eprosima::fastdds::dds::DataWriterQos datawriter_qos_;

    rmw_dds_common::GraphCache graphCache_;
-    std::unique_ptr<ParticipantListener> participant_listener_;
-    std::unique_ptr<DatareaderListener> datareader_listener_;

-    std::unique_ptr<eprosima::fastdds::dds::TypeSupport> participant_info_typesupport_;
-    std::unique_ptr<eprosima::fastdds::dds::TypeSupport> microros_graph_info_typesupport_;
-    std::unique_ptr<eprosima::fastdds::dds::DomainParticipant> participant_;
-    std::unique_ptr<eprosima::fastdds::dds::Publisher> publisher_;
-    std::unique_ptr<eprosima::fastdds::dds::Subscriber> subscriber_;
-    std::unique_ptr<eprosima::fastdds::dds::Topic> ros_discovery_topic_;
-    std::unique_ptr<eprosima::fastdds::dds::Topic> ros_to_microros_graph_topic_;
-    std::unique_ptr<eprosima::fastdds::dds::DataWriter> ros_to_microros_graph_datawriter_;
-    std::unique_ptr<eprosima::fastdds::dds::DataReader> ros_discovery_datareader_;
+    ParticipantListener participant_listener_;
+    DatareaderListener datareader_listener_;

+    eprosima::fastdds::dds::TypeSupport participant_info_typesupport_;
+    eprosima::fastdds::dds::TypeSupport microros_graph_info_typesupport_;
+    eprosima::fastdds::dds::DomainParticipant* participant_;
+    eprosima::fastdds::dds::Publisher* publisher_;
+    eprosima::fastdds::dds::Subscriber* subscriber_;
+    eprosima::fastdds::dds::Topic* ros_discovery_topic_;
+    eprosima::fastdds::dds::Topic* ros_to_microros_graph_topic_;
+    eprosima::fastdds::dds::DataWriter* ros_to_microros_graph_datawriter_;
+    eprosima::fastdds::dds::DataReader* ros_discovery_datareader_;
    // Store a auxiliary publishers and datawriter for each participant created in micro-ROS
    std::map<
        const eprosima::fastdds::dds::DomainParticipant*,
@@ -15,16 +15,18 @@
 #ifndef UROS_AGENT_GRAPH_PARTICIPANTS_TYPESUPPORT_HPP_
 #define UROS_AGENT_GRAPH_PARTICIPANTS_TYPESUPPORT_HPP_

-#include "fastdds/dds/publisher/Publisher.hpp"
-#include "fastdds/dds/topic/TopicDataType.hpp"
-#include "fastdds/rtps/attributes/RTPSParticipantAttributes.hpp"
-#include "fastdds/rtps/participant/RTPSParticipant.hpp"
-#include "fastdds/rtps/participant/RTPSParticipantListener.hpp"
-#include "fastdds/rtps/RTPSDomain.hpp"
+#include "fastrtps/Domain.h"
+#include <fastrtps/TopicDataType.h>
+#include "fastrtps/attributes/ParticipantAttributes.h"
+#include "fastrtps/participant/Participant.h"
+#include "fastrtps/participant/ParticipantListener.h"
+#include "fastrtps/attributes/PublisherAttributes.h"
+#include "fastrtps/publisher/Publisher.h"
+#include <fastrtps/publisher/PublisherListener.h>
+#include <fastrtps/rtps/common/MatchingInfo.h>
+
 #include <fastdds/dds/domain/DomainParticipant.hpp>
 #include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/dds/publisher/PublisherListener.hpp>
-#include <fastdds/rtps/common/MatchingInfo.hpp>

 #include "rmw/types.h"
 #include "rmw/impl/cpp/key_value.hpp"
@@ -57,31 +59,24 @@ public:
    ParticipantEntitiesInfoTypeSupport();

    virtual bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t& payload,
-            eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+            void* data,
+            eprosima::fastrtps::rtps::SerializedPayload_t* payload) override;

    virtual bool deserialize(
-            eprosima::fastdds::rtps::SerializedPayload_t& payload,
+            eprosima::fastrtps::rtps::SerializedPayload_t* payload,
            void* data) override;

-    virtual uint32_t calculate_serialized_size(
-            const void* const data,
-            eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+    virtual std::function<uint32_t()> getSerializedSizeProvider(
+            void* data) override;

-    virtual void* create_data() override;
+    virtual void* createData() override;

-    virtual void delete_data(void* data) override;
+    virtual void deleteData(void* data) override;

-    virtual bool compute_key(
-            eprosima::fastdds::rtps::SerializedPayload_t& payload,
-            eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
-            bool force_md5 = false) override;
-
-    virtual bool compute_key(
-            const void* const data,
-            eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
-            bool force_md5 = false) override;
+    virtual bool getKey(
+            void* data,
+            eprosima::fastrtps::rtps::InstanceHandle_t* handle,
+            bool force_md5) override;

 private:

@@ -100,31 +95,24 @@ public:
    MicrorosGraphInfoTypeSupport();

    virtual bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t& payload,
-            eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+            void* data,
+            eprosima::fastrtps::rtps::SerializedPayload_t* payload) override;

    virtual bool deserialize(
-            eprosima::fastdds::rtps::SerializedPayload_t& payload,
+            eprosima::fastrtps::rtps::SerializedPayload_t* payload,
            void* data) override;

-    virtual uint32_t calculate_serialized_size(
-            const void* const data,
-            eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+    virtual std::function<uint32_t()> getSerializedSizeProvider(
+            void* data) override;

-    virtual void* create_data() override;
+    virtual void* createData() override;

-    virtual void delete_data(void* data) override;
+    virtual void deleteData(void* data) override;

-    virtual bool compute_key(
-            eprosima::fastdds::rtps::SerializedPayload_t& payload,
-            eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
-            bool force_md5 = false) override;
-
-    virtual bool compute_key(
-            const void* const data,
-            eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
-            bool force_md5 = false) override;
+    virtual bool getKey(
+            void* data,
+            eprosima::fastrtps::rtps::InstanceHandle_t* handle,
+            bool force_md5) override;

 private:

@@ -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"}
        )
    ])
@@ -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>6.1.0</version>
-  <description>micro-ROS Agent package</description>
-  <maintainer email="pablogarrido@eprosima.com">Pablo Garrido</maintainer>
-  <maintainer email="antoniocuadros@eprosima.com">Antonio Cuadros</maintainer>
+  <version>0.0.1</version>
+  <description>DDS-XCRE agent implementation </description>
+  <maintainer email="borjaouterelo@eprosima.com">Borja Outerelo</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>
@@ -17,9 +17,6 @@

 #include <agent/Agent.hpp>

-#include <utility>
-#include <memory>
-
 namespace uros {
 namespace agent {

@@ -28,13 +25,22 @@ Agent::Agent()
 {
 }

+Agent& Agent::getInstance()
+{
+    static Agent instance;
+    return instance;
+}
+
 bool Agent::create(
        int argc,
        char** argv)
 {
    bool result = xrce_dds_agent_instance_.create(argc, argv);
-    if (result)
+
+    if (result && !initialized)
    {
+        initialized = true;
+
        /**
         * Add CREATE_PARTICIPANT callback.
         */
@@ -79,9 +85,14 @@ 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,
@@ -101,7 +112,12 @@ bool Agent::create(

                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(
@@ -122,10 +138,10 @@ bool Agent::create(
                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());

                // TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastdds::rtps::InstanceHandle_t instance_handle =
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
                    datareader->get_instance_handle();
-                const eprosima::fastdds::rtps::GUID_t datareader_guid =
-                    eprosima::fastdds::rtps::iHandle2GUID(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);
@@ -148,10 +164,10 @@ bool Agent::create(
                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());

                // TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastdds::rtps::InstanceHandle_t instance_handle =
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
                    datareader->get_instance_handle();
-                const eprosima::fastdds::rtps::GUID_t datareader_guid =
-                    eprosima::fastdds::rtps::iHandle2GUID(instance_handle);
+                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
                graph_manager_->remove_datareader(datareader_guid);
            });

@@ -159,128 +175,6 @@ bool Agent::create(
            eprosima::uxr::Middleware::Kind::FASTDDS,
            eprosima::uxr::middleware::CallbackKind::DELETE_DATAREADER,
            std::move(on_delete_datareader));
-
-        /**
-         * 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::fastdds::rtps::InstanceHandle_t instance_handle =
-                    datareader->get_instance_handle();
-                const eprosima::fastdds::rtps::GUID_t datareader_guid =
-                    eprosima::fastdds::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::fastdds::rtps::InstanceHandle_t instance_handle =
-                    datareader->get_instance_handle();
-                const eprosima::fastdds::rtps::GUID_t datareader_guid =
-                    eprosima::fastdds::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::fastdds::rtps::InstanceHandle_t instance_handle =
-                    datareader->get_instance_handle();
-                const eprosima::fastdds::rtps::GUID_t datareader_guid =
-                    eprosima::fastdds::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::fastdds::rtps::InstanceHandle_t instance_handle =
-                    datareader->get_instance_handle();
-                const eprosima::fastdds::rtps::GUID_t datareader_guid =
-                    eprosima::fastdds::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;
@@ -288,23 +182,29 @@ bool Agent::create(

 void Agent::run()
 {
-    return xrce_dds_agent_instance_.run();
+    xrce_dds_agent_instance_.run();
 }

-std::shared_ptr<graph_manager::GraphManager> Agent::find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id)
+void Agent::stop()
 {
+    xrce_dds_agent_instance_.stop();

-auto it = graph_manager_map_.find(domain_id);
+    for (auto & element : graph_manager_map_)
+    {
+        element.second.stop();
+    }
+
+    graph_manager_map_.clear();
+}
+
+graph_manager::GraphManager* Agent::find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id)
+{
+    auto it = graph_manager_map_.find(domain_id);

    if (it != graph_manager_map_.end()) {
-        return it->second;
+        return &it->second;
    }else{
-        return graph_manager_map_.insert(
-            std::make_pair(
-                domain_id,
-                std::make_shared<graph_manager::GraphManager>(domain_id)
-            )
-        ).first->second;
+        return &graph_manager_map_.emplace(domain_id, domain_id).first->second;
    }
 }

@@ -16,14 +16,6 @@
 #define _UROS_AGENT_GRAPH_MANAGER_CPP

 #include <agent/graph_manager/graph_manager.hpp>
-#include <fastdds/dds/core/detail/DDSReturnCode.hpp>
-#include <fastdds/rtps/participant/ParticipantDiscoveryInfo.hpp>
-#include <fastdds/rtps/reader/ReaderDiscoveryStatus.hpp>
-
-#include <memory>
-#include <string>
-#include <utility>
-#include <vector>

 namespace uros {
 namespace agent {
@@ -36,15 +28,16 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
    , mtx_()
    , cv_()
    , graphCache_()
-    , participant_listener_(std::make_unique<ParticipantListener>(this))
-    , datareader_listener_(std::make_unique<DatareaderListener>(this))
-    , participant_info_typesupport_(std::make_unique<
-        eprosima::fastdds::dds::TypeSupport>(new graph_manager::ParticipantEntitiesInfoTypeSupport()))
-    , microros_graph_info_typesupport_(std::make_unique<
-        eprosima::fastdds::dds::TypeSupport>(new graph_manager::MicrorosGraphInfoTypeSupport()))
+    , participant_listener_(this)
+    , datareader_listener_(this)
+    , participant_info_typesupport_()
+    , microros_graph_info_typesupport_()
 {
    eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->load_profiles();

+    participant_info_typesupport_ = (eprosima::fastdds::dds::TypeSupport) new graph_manager::ParticipantEntitiesInfoTypeSupport();
+    microros_graph_info_typesupport_ = (eprosima::fastdds::dds::TypeSupport) new graph_manager::MicrorosGraphInfoTypeSupport();
+
    // Create DomainParticipant
    eprosima::fastdds::dds::DomainParticipantQos participant_qos =
        eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->get_default_participant_qos();
@@ -57,34 +50,35 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)

    participant_qos.name(enclave);
    participant_qos.wire_protocol().builtin.readerHistoryMemoryPolicy =
-        eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+        eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
    participant_qos.wire_protocol().builtin.writerHistoryMemoryPolicy =
-        eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+        eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

    eprosima::fastdds::dds::StatusMask par_mask = eprosima::fastdds::dds::StatusMask::none();
-    participant_.reset(eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->
-        create_participant(domain_id_, participant_qos, participant_listener_.get(), par_mask));
+
+    participant_ = eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->
+        create_participant(domain_id_, participant_qos, &participant_listener_, par_mask);

    // Register participant within typesupport
-    participant_->register_type(*participant_info_typesupport_);
-    participant_->register_type(*microros_graph_info_typesupport_);
+    participant_->register_type(participant_info_typesupport_);
+    participant_->register_type(microros_graph_info_typesupport_);

    // Create publisher
-    publisher_.reset(participant_->create_publisher(
-        eprosima::fastdds::dds::PUBLISHER_QOS_DEFAULT));
+    publisher_ = participant_->create_publisher(
+        eprosima::fastdds::dds::PUBLISHER_QOS_DEFAULT);

    // Create subscriber
-    subscriber_.reset(participant_->create_subscriber(
-        eprosima::fastdds::dds::SUBSCRIBER_QOS_DEFAULT));
+    subscriber_ = participant_->create_subscriber(
+        eprosima::fastdds::dds::SUBSCRIBER_QOS_DEFAULT);

    // Create topics
-    ros_discovery_topic_.reset(participant_->create_topic("ros_discovery_info",
-        participant_info_typesupport_->get_type_name(),
-        eprosima::fastdds::dds::TOPIC_QOS_DEFAULT));
+    ros_discovery_topic_ = participant_->create_topic("ros_discovery_info",
+        participant_info_typesupport_.get_type_name(),
+        eprosima::fastdds::dds::TOPIC_QOS_DEFAULT);

-    ros_to_microros_graph_topic_.reset(participant_->create_topic("ros_to_microros_graph",
-        microros_graph_info_typesupport_->get_type_name(),
-        eprosima::fastdds::dds::TOPIC_QOS_DEFAULT));
+    ros_to_microros_graph_topic_ = participant_->create_topic("ros_to_microros_graph",
+        microros_graph_info_typesupport_.get_type_name(),
+        eprosima::fastdds::dds::TOPIC_QOS_DEFAULT);

    // Create datawriters
    datawriter_qos_ =
@@ -94,7 +88,7 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
        eprosima::fastdds::dds::HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
    datawriter_qos_.history().depth = 1;
    datawriter_qos_.endpoint().history_memory_policy =
-        eprosima::fastdds::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+        eprosima::fastrtps::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
    datawriter_qos_.publish_mode().kind =
        eprosima::fastdds::dds::PublishModeQosPolicyKind::ASYNCHRONOUS_PUBLISH_MODE;
    datawriter_qos_.reliability().kind =
@@ -104,9 +98,10 @@ 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;
-    ros_to_microros_graph_datawriter_.reset(
-        publisher_->create_datawriter(ros_to_microros_graph_topic_.get(), ros_to_microros_datawriter_qos_));
+        eprosima::fastdds::dds::HistoryQosPolicyKind::KEEP_ALL_HISTORY_QOS;
+
+    ros_to_microros_graph_datawriter_ = 
+        publisher_->create_datawriter(ros_to_microros_graph_topic_, ros_to_microros_datawriter_qos_);

    // Create datareaders

@@ -116,23 +111,21 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
        eprosima::fastdds::dds::HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
    datareader_qos.history().depth = 1;
    datareader_qos.endpoint().history_memory_policy =
-        eprosima::fastdds::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+        eprosima::fastrtps::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
    datareader_qos.reliability().kind =
        eprosima::fastdds::dds::ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
    datareader_qos.durability().kind =
        eprosima::fastdds::dds::DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;

-    ros_discovery_datareader_.reset(
-        subscriber_->create_datareader(ros_discovery_topic_.get(),
-            datareader_qos, datareader_listener_.get()));
+    ros_discovery_datareader_ = 
+        subscriber_->create_datareader(ros_discovery_topic_,
+            datareader_qos, &datareader_listener_);

    // 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;
-        }
+        std::unique_lock<std::mutex> lock(this->mtx_);
+        this->graph_changed_ = true;
        this->cv_.notify_one();
    });

@@ -147,9 +140,13 @@ 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_)
@@ -157,6 +154,7 @@ 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;

@@ -325,10 +323,11 @@ 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_);
+            eprosima::fastdds::dds::DataWriter* datawriter;
+            datawriter = publisher_->create_datawriter(ros_discovery_topic_, 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));
@@ -348,13 +347,14 @@ 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::fastdds::rtps::GUID_t& datawriter_guid,
+        const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
        const eprosima::fastdds::dds::DomainParticipant* participant,
        const eprosima::fastdds::dds::DataWriter* datawriter)
 {
@@ -365,10 +365,10 @@ void GraphManager::add_datawriter(
 }

 void GraphManager::add_datawriter(
-        const eprosima::fastdds::rtps::GUID_t& datawriter_guid,
+        const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
        const std::string& topic_name,
        const std::string& type_name,
-        const eprosima::fastdds::rtps::GUID_t& participant_guid,
+        const eprosima::fastrtps::rtps::GUID_t& participant_guid,
        const eprosima::fastdds::dds::DataWriterQos& writer_qos)
 {
    const rmw_gid_t datawriter_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
@@ -377,12 +377,12 @@ 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(
-        const eprosima::fastdds::rtps::GUID_t& datawriter_guid)
+        const eprosima::fastrtps::rtps::GUID_t& datawriter_guid)
 {
    const rmw_gid_t datawriter_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
        "rmw_fastrtps_cpp", datawriter_guid);
@@ -391,7 +391,7 @@ void GraphManager::remove_datawriter(
 }

 void GraphManager::add_datareader(
-        const eprosima::fastdds::rtps::GUID_t& datareader_guid,
+        const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
        const eprosima::fastdds::dds::DomainParticipant* participant,
        const eprosima::fastdds::dds::DataReader* datareader)
 {
@@ -402,10 +402,10 @@ void GraphManager::add_datareader(
 }

 void GraphManager::add_datareader(
-        const eprosima::fastdds::rtps::GUID_t& datareader_guid,
+        const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
        const std::string& topic_name,
        const std::string& type_name,
-        const eprosima::fastdds::rtps::GUID_t& participant_guid,
+        const eprosima::fastrtps::rtps::GUID_t& participant_guid,
        const eprosima::fastdds::dds::DataReaderQos& reader_qos)
 {
    const rmw_gid_t datareader_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
@@ -414,17 +414,12 @@ 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(
-        const eprosima::fastdds::rtps::GUID_t& datareader_guid)
+        const eprosima::fastrtps::rtps::GUID_t& datareader_guid)
 {
    const rmw_gid_t datareader_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
        "rmw_fastrtps_cpp", datareader_guid);
@@ -433,7 +428,7 @@ void GraphManager::remove_datareader(
 }

 void GraphManager::associate_entity(
-        const eprosima::fastdds::rtps::GUID_t& entity_guid,
+        const eprosima::fastrtps::rtps::GUID_t& entity_guid,
        const eprosima::fastdds::dds::DomainParticipant* participant,
        const dds::xrce::ObjectKind& entity_kind)
 {
@@ -553,7 +548,7 @@ void GraphManager::update_node_entities_info()
    rmw_dds_common::msg::ParticipantEntitiesInfo entities_info;
    eprosima::fastdds::dds::SampleInfo sample_info;
    if (ros_discovery_datareader_->take_next_sample(&entities_info, &sample_info) ==
-        eprosima::fastdds::dds::RETCODE_OK)
+        eprosima::fastrtps::types::ReturnCode_t::RETCODE_OK)
    {
        if (sample_info.instance_state == eprosima::fastdds::dds::InstanceStateKind::ALIVE_INSTANCE_STATE)
        {
@@ -608,18 +603,13 @@ GraphManager::ParticipantListener::ParticipantListener(

 void GraphManager::ParticipantListener::on_participant_discovery(
        eprosima::fastdds::dds::DomainParticipant* participant,
-        eprosima::fastdds::rtps::ParticipantDiscoveryStatus reason,
-        const eprosima::fastdds::dds::ParticipantBuiltinTopicData& info,
-        bool& should_be_ignored)
+        eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info)
 {
-    static_cast<void>(participant);
-    static_cast<void>(should_be_ignored);
-
-    switch (reason)
+    switch (info.status)
    {
-        case eprosima::fastdds::rtps::ParticipantDiscoveryStatus::DISCOVERED_PARTICIPANT:
+        case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DISCOVERED_PARTICIPANT:
        {
-            auto map = rmw::impl::cpp::parse_key_value(info.user_data);
+            auto map = rmw::impl::cpp::parse_key_value(info.info.m_userData);
            auto name_found = map.find("enclave");

            if (map.end() == name_found)
@@ -629,15 +619,13 @@ 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.guid);
-            graphManager_from_->get_graph_cache().add_participant(gid, enclave);
+            graphManager_from_->add_participant(participant, false, enclave);
            break;
        }
-        case eprosima::fastdds::rtps::ParticipantDiscoveryStatus::REMOVED_PARTICIPANT:
-        case eprosima::fastdds::rtps::ParticipantDiscoveryStatus::DROPPED_PARTICIPANT:
+        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.guid);
-            graphManager_from_->get_graph_cache().remove_participant(gid);
+            graphManager_from_->remove_participant(participant, false);
            break;
        }
        default:
@@ -648,133 +636,117 @@ void GraphManager::ParticipantListener::on_participant_discovery(
 }

 static eprosima::fastdds::dds::DataWriterQos writer_qos_conversion(
-    const eprosima::fastdds::dds::PublicationBuiltinTopicData& writer_info)
+    const eprosima::fastdds::dds::WriterQos& writer_qos)
 {
    eprosima::fastdds::dds::DataWriterQos datawriter_qos;
-    eprosima::fastdds::dds::RTPSReliableWriterQos reliable_writer_qos;
-    reliable_writer_qos.disable_positive_acks = writer_info.disable_positive_acks;
-
-    datawriter_qos.durability(writer_info.durability);
-    datawriter_qos.durability_service(writer_info.durability_service);
-    datawriter_qos.deadline(writer_info.deadline);
-    datawriter_qos.latency_budget(writer_info.latency_budget);
-    datawriter_qos.liveliness(writer_info.liveliness);
-    datawriter_qos.reliability(writer_info.reliability);
-    datawriter_qos.lifespan(writer_info.lifespan);
-    datawriter_qos.user_data(writer_info.user_data);
-    datawriter_qos.ownership(writer_info.ownership);
-    datawriter_qos.ownership_strength(writer_info.ownership_strength);
-    datawriter_qos.destination_order(writer_info.destination_order);
-    datawriter_qos.reliable_writer_qos(reliable_writer_qos);
-    datawriter_qos.representation(writer_info.representation);
-    datawriter_qos.data_sharing(writer_info.data_sharing);
+    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::rtps::SubscriptionBuiltinTopicData& reader_info)
+    const eprosima::fastdds::dds::ReaderQos& reader_qos)
 {
    eprosima::fastdds::dds::DataReaderQos datareader_qos;
-    eprosima::fastdds::dds::RTPSReliableReaderQos reliable_reader_qos;
-    reliable_reader_qos.disable_positive_acks = reader_info.disable_positive_acks;

-    datareader_qos.durability(reader_info.durability);
-    datareader_qos.deadline(reader_info.deadline);
-    datareader_qos.latency_budget(reader_info.latency_budget);
-    datareader_qos.lifespan(reader_info.lifespan);
-    datareader_qos.liveliness(reader_info.liveliness);
-    datareader_qos.reliability(reader_info.reliability);
-    datareader_qos.ownership(reader_info.ownership);
-    datareader_qos.destination_order(reader_info.destination_order);
-    datareader_qos.user_data(reader_info.user_data);
-    datareader_qos.time_based_filter(reader_info.time_based_filter);
-    datareader_qos.type_consistency(reader_info.type_consistency);
-    datareader_qos.reliable_reader_qos(reliable_reader_qos);
-    datareader_qos.representation(reader_info.representation);
-    datareader_qos.data_sharing(reader_info.data_sharing);
+    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::fastdds::rtps::ReaderDiscoveryStatus, eprosima::fastdds::rtps::SubscriptionBuiltinTopicData>(
-        eprosima::fastdds::rtps::ReaderDiscoveryStatus reason,
-        const eprosima::fastdds::rtps::SubscriptionBuiltinTopicData& reader_info)
+void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtps::rtps::ReaderDiscoveryInfo>(
+        const eprosima::fastrtps::rtps::ReaderDiscoveryInfo& reader_info)
 {
-    switch (reason)
+    switch (reader_info.status)
    {
-        case eprosima::fastdds::rtps::ReaderDiscoveryStatus::CHANGED_QOS_READER:
+        case eprosima::fastrtps::rtps::ReaderDiscoveryInfo::CHANGED_QOS_READER:
        {
            return;
        }
-        case eprosima::fastdds::rtps::ReaderDiscoveryStatus::DISCOVERED_READER:
+        case eprosima::fastrtps::rtps::ReaderDiscoveryInfo::DISCOVERED_READER:
        {
-            const std::string topic_name = reader_info.topic_name.to_string();
-            const std::string type_name = reader_info.type_name.to_string();
+            const std::string topic_name = reader_info.info.topicName().to_string();
+            const std::string type_name = reader_info.info.typeName().to_string();

-            graphManager_from_->add_datareader(reader_info.guid, topic_name, type_name,
-                reader_info.participant_guid, reader_qos_conversion(reader_info));
+            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));
            break;
        }
        default:
        {
-            graphManager_from_->remove_datareader(reader_info.guid);
+            graphManager_from_->remove_datareader(reader_info.info.guid());
            break;
        }
    }
 }

 template <>
-void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastdds::rtps::WriterDiscoveryStatus, eprosima::fastdds::rtps::PublicationBuiltinTopicData>(
-        eprosima::fastdds::rtps::WriterDiscoveryStatus reason,
-        const eprosima::fastdds::rtps::PublicationBuiltinTopicData& writer_info)
+void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtps::rtps::WriterDiscoveryInfo>(
+        const eprosima::fastrtps::rtps::WriterDiscoveryInfo& writer_info)
 {
-    switch (reason)
+    switch (writer_info.status)
    {
-        case eprosima::fastdds::rtps::WriterDiscoveryStatus::CHANGED_QOS_WRITER:
+        case eprosima::fastrtps::rtps::WriterDiscoveryInfo::CHANGED_QOS_WRITER:
        {
            return;
        }
-        case eprosima::fastdds::rtps::WriterDiscoveryStatus::DISCOVERED_WRITER:
+        case eprosima::fastrtps::rtps::WriterDiscoveryInfo::DISCOVERED_WRITER:
        {
-            const std::string topic_name = writer_info.topic_name.to_string();
-            const std::string type_name = writer_info.type_name.to_string();
+            const std::string topic_name = writer_info.info.topicName().to_string();
+            const std::string type_name = writer_info.info.typeName().to_string();

-            graphManager_from_->add_datawriter(writer_info.guid, topic_name, type_name,
-                writer_info.participant_guid, writer_qos_conversion(writer_info));
+            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));
            break;
        }
        default:
        {
-            graphManager_from_->remove_datawriter(writer_info.guid);
+            graphManager_from_->remove_datawriter(writer_info.info.guid());
            break;
        }
    }
 }

-void GraphManager::ParticipantListener::on_data_reader_discovery(
-        eprosima::fastdds::dds::DomainParticipant* participant,
-        eprosima::fastdds::rtps::ReaderDiscoveryStatus reason,
-        const eprosima::fastdds::dds::SubscriptionBuiltinTopicData& info,
-        bool& should_be_ignored)
+void GraphManager::ParticipantListener::on_subscriber_discovery(
+        eprosima::fastdds::dds::DomainParticipant* /*participant*/,
+        eprosima::fastrtps::rtps::ReaderDiscoveryInfo&& info)
 {
-    static_cast<void>(participant);
-    static_cast<void>(should_be_ignored);
-
-    process_discovery_info<eprosima::fastdds::rtps::ReaderDiscoveryStatus, eprosima::fastdds::rtps::SubscriptionBuiltinTopicData>(reason, info);
+    process_discovery_info<eprosima::fastrtps::rtps::ReaderDiscoveryInfo>(info);
 }

-void GraphManager::ParticipantListener::on_data_writer_discovery(
-        eprosima::fastdds::dds::DomainParticipant* participant,
-        eprosima::fastdds::rtps::WriterDiscoveryStatus reason,
-        const eprosima::fastdds::dds::PublicationBuiltinTopicData& info,
-        bool& should_be_ignored)
+void GraphManager::ParticipantListener::on_publisher_discovery(
+        eprosima::fastdds::dds::DomainParticipant* /*participant*/,
+        eprosima::fastrtps::rtps::WriterDiscoveryInfo&& info)
 {
-    static_cast<void>(participant);
-    static_cast<void>(should_be_ignored);
-
-    process_discovery_info<eprosima::fastdds::rtps::WriterDiscoveryStatus, eprosima::fastdds::rtps::PublicationBuiltinTopicData>(reason, info);
+    process_discovery_info<eprosima::fastrtps::rtps::WriterDiscoveryInfo>(info);
 }

 GraphManager::DatareaderListener::DatareaderListener(
@@ -17,8 +17,6 @@

 #include <agent/graph_manager/graph_typesupport.hpp>

-#include <string>
-
 namespace uros {
 namespace agent {
 namespace graph_manager {
@@ -41,30 +39,27 @@ ParticipantEntitiesInfoTypeSupport::ParticipantEntitiesInfoTypeSupport()
        ss << message_namespace << "::";
    }
    ss << "dds_::" << message_name << "_";
-    this->set_name(ss.str().c_str());
+    this->setName(ss.str().c_str());

-    char full_bounded;
-    max_serialized_type_size = 4 + callbacks_->max_serialized_size(full_bounded);
+    bool full_bounded = true;
+    m_typeSize = 4 + callbacks_->max_serialized_size(full_bounded);
 }

 bool ParticipantEntitiesInfoTypeSupport::serialize(
-        const void* const data,
-        eprosima::fastdds::rtps::SerializedPayload_t& payload,
-        eprosima::fastdds::dds::DataRepresentationId_t data_representation)
+        void * data,
+        eprosima::fastrtps::rtps::SerializedPayload_t * payload)
 {
-    static_cast<void>(data_representation);
-
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload.data),
-        payload.max_size);
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
+        payload->max_size);
    eprosima::fastcdr::Cdr scdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-        eprosima::fastcdr::DDS_CDR);
+        eprosima::fastcdr::Cdr::DDS_CDR);

    scdr.serialize_encapsulation();
    if (callbacks_->cdr_serialize(data, scdr))
    {
-        payload.encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
+        payload->encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
            CDR_BE : CDR_LE;
-        payload.length = static_cast<uint32_t>(scdr.get_serialized_data_length());
+        payload->length = static_cast<uint32_t>(scdr.getSerializedDataLength());
        return true;
    }
    else
@@ -74,58 +69,47 @@ bool ParticipantEntitiesInfoTypeSupport::serialize(
 }

 bool ParticipantEntitiesInfoTypeSupport::deserialize(
-        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+        eprosima::fastrtps::rtps::SerializedPayload_t * payload,
        void * data)
 {
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload.data),
-        payload.length);
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
+        payload->length);
    eprosima::fastcdr::Cdr dcdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-        eprosima::fastcdr::DDS_CDR);
+        eprosima::fastcdr::Cdr::DDS_CDR);

    dcdr.read_encapsulation();
    return callbacks_->cdr_deserialize(dcdr, data);
 }

-uint32_t ParticipantEntitiesInfoTypeSupport::calculate_serialized_size(
-            const void* const data,
-            eprosima::fastdds::dds::DataRepresentationId_t data_representation)
+std::function<uint32_t()> ParticipantEntitiesInfoTypeSupport::getSerializedSizeProvider(
+        void * data)
 {
-    static_cast<void>(data_representation);
-
-    return static_cast<uint32_t>(4 + callbacks_->get_serialized_size(data));
+    return [data, this]() -> uint32_t
+    {
+        return static_cast<uint32_t>(4 + callbacks_->get_serialized_size(data));
+    };
 }

-void * ParticipantEntitiesInfoTypeSupport::create_data()
+void * ParticipantEntitiesInfoTypeSupport::createData()
 {
    return static_cast<void *>(nullptr);
 }

-void ParticipantEntitiesInfoTypeSupport::delete_data(
+void ParticipantEntitiesInfoTypeSupport::deleteData(
        void * data)
 {
    (void) data;
 }

-bool ParticipantEntitiesInfoTypeSupport::compute_key(
-        eprosima::fastdds::rtps::SerializedPayload_t& payload,
-        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
-        bool force_md5 /* = false */)
-{
-    (void) payload;
-    (void) ihandle;
-    (void) force_md5;
-    return is_compute_key_provided;
-}
-
-bool ParticipantEntitiesInfoTypeSupport::compute_key(
-        const void * const data,
-        eprosima::fastdds::rtps::InstanceHandle_t& handle,
-        bool force_md5 /* = false */)
+bool ParticipantEntitiesInfoTypeSupport::getKey(
+        void * data,
+        eprosima::fastrtps::rtps::InstanceHandle_t * handle,
+        bool force_md5)
 {
    (void) data;
    (void) handle;
    (void) force_md5;
-    return is_compute_key_provided;
+    return m_isGetKeyDefined;
 }


@@ -147,30 +131,27 @@ MicrorosGraphInfoTypeSupport::MicrorosGraphInfoTypeSupport()
        ss << message_namespace << "::";
    }
    ss << "dds_::" << message_name << "_";
-    this->set_name(ss.str().c_str());
+    this->setName(ss.str().c_str());

-    char full_bounded;
-    max_serialized_type_size = 4 + callbacks_->max_serialized_size(full_bounded);
+    bool full_bounded = true;
+    m_typeSize = 4 + callbacks_->max_serialized_size(full_bounded);
 }

 bool MicrorosGraphInfoTypeSupport::serialize(
-        const void* const data,
-        eprosima::fastdds::rtps::SerializedPayload_t& payload,
-        eprosima::fastdds::dds::DataRepresentationId_t data_representation)
+        void * data,
+        eprosima::fastrtps::rtps::SerializedPayload_t * payload)
 {
-    static_cast<void>(data_representation);
-
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload.data),
-        payload.max_size);
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
+        payload->max_size);
    eprosima::fastcdr::Cdr scdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-        eprosima::fastcdr::DDS_CDR);
+        eprosima::fastcdr::Cdr::DDS_CDR);

    scdr.serialize_encapsulation();
    if (callbacks_->cdr_serialize(data, scdr))
    {
-        payload.encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
+        payload->encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
            CDR_BE : CDR_LE;
-        payload.length = static_cast<uint32_t>(scdr.get_serialized_data_length());
+        payload->length = static_cast<uint32_t>(scdr.getSerializedDataLength());
        return true;
    }
    else
@@ -180,58 +161,47 @@ bool MicrorosGraphInfoTypeSupport::serialize(
 }

 bool MicrorosGraphInfoTypeSupport::deserialize(
-        eprosima::fastdds::rtps::SerializedPayload_t& payload,
-        void* data)
+        eprosima::fastrtps::rtps::SerializedPayload_t * payload,
+        void * data)
 {
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload.data),
-        payload.length);
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
+        payload->length);
    eprosima::fastcdr::Cdr dcdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-        eprosima::fastcdr::DDS_CDR);
+        eprosima::fastcdr::Cdr::DDS_CDR);

    dcdr.read_encapsulation();
    return callbacks_->cdr_deserialize(dcdr, data);
 }

-uint32_t MicrorosGraphInfoTypeSupport::calculate_serialized_size(
-        const void* const data,
-        eprosima::fastdds::dds::DataRepresentationId_t data_representation)
+std::function<uint32_t()> MicrorosGraphInfoTypeSupport::getSerializedSizeProvider(
+        void * data)
 {
-    static_cast<void>(data_representation);
-
-    return static_cast<uint32_t>(4 + callbacks_->get_serialized_size(data));
+    return [data, this]() -> uint32_t
+    {
+        return static_cast<uint32_t>(4 + callbacks_->get_serialized_size(data));
+    };
 }

-void * MicrorosGraphInfoTypeSupport::create_data()
+void * MicrorosGraphInfoTypeSupport::createData()
 {
    return static_cast<void *>(nullptr);
 }

-void MicrorosGraphInfoTypeSupport::delete_data(
+void MicrorosGraphInfoTypeSupport::deleteData(
        void * data)
 {
    (void) data;
 }

-bool MicrorosGraphInfoTypeSupport::compute_key(
-        eprosima::fastdds::rtps::SerializedPayload_t& payload,
-        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
-        bool force_md5 /* = false */)
-{
-    (void) payload;
-    (void) ihandle;
-    (void) force_md5;
-    return is_compute_key_provided;
-}
-
-bool MicrorosGraphInfoTypeSupport::compute_key(
-        const void* const data,
-        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
-        bool force_md5 /* = false */)
+bool MicrorosGraphInfoTypeSupport::getKey(
+        void * data,
+        eprosima::fastrtps::rtps::InstanceHandle_t * handle,
+        bool force_md5)
 {
    (void) data;
-    (void) ihandle;
+    (void) handle;
    (void) force_md5;
-    return is_compute_key_provided;
+    return m_isGetKeyDefined;
 }

 }  // namespace graph_manager
@@ -14,12 +14,9 @@

 #include <agent/Agent.hpp>

-#include <string>
-#include <vector>
-
 int main(int argc, char** argv)
 {
-    uros::agent::Agent micro_ros_agent;
+    uros::agent::Agent& micro_ros_agent = micro_ros_agent.getInstance();

    /** Bypass '--ros-args' flag, as we use our own CLI parser.
      * As a workaround for launch files, arguments will be passed from
Author	SHA1	Message	Date
Antonio cuadros	2ee51a45f3	Update graph destructor	2021-07-28 12:28:48 +02:00
Antonio cuadros	a86d883128	Keep graph manager alive until destruction	2021-07-28 10:01:55 +02:00
Antonio cuadros	1b606c7e92	Add clear to graph manager	2021-07-28 07:51:36 +02:00
Antonio Cuadros	7f9913a8ff	Update micro_ros_agent/include/agent/graph_manager/graph_manager.hpp	2021-07-27 16:02:09 +02:00
Antonio Cuadros	54cfa606aa	Merge branch 'main' into feature/stop_agent	2021-07-27 15:48:45 +02:00
Antonio cuadros	107dea729e	Add missing declaration	2021-07-27 11:00:01 +02:00
Antonio cuadros	f7fca51e2e	Update graph manager	2021-07-27 10:31:07 +02:00
Antonio cuadros	9564b943ee	Modify callbacks init	2021-07-26 13:43:57 +02:00
Antonio cuadros	7294ba66d7	Update agent as singleton	2021-07-26 13:10:04 +02:00
Antonio cuadros	76c39a39be	Add aux micro-ros publishers delete	2021-07-23 07:54:25 +02:00
Antonio cuadros	e9bf7fa65b	Update Graph manager destructor	2021-07-22 15:46:47 +02:00
Antonio cuadros	3eb34010f0	Delete unnecesary command	2021-07-22 09:08:36 +02:00
Antonio cuadros	790c937dc2	Change back binary name to micro_ros_agent	2021-07-22 07:59:53 +02:00
Antonio cuadros	43a1ce2283	Delete void returns	2021-07-22 07:57:54 +02:00
Antonio cuadros	ce149628b4	Add cmake config file	2021-07-22 07:46:36 +02:00
Antonio cuadros	4bcd9f2337	Add library build to cmake	2021-07-21 15:26:52 +02:00
Antonio cuadros	ff3b6f3b64	Add stop functionality	2021-07-21 13:22:20 +02:00
mergify[bot]andPablo Garrido	256424b7ec	Fix graph manager datawriters behaviour (#84 ) (#85 ) * 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>	2021-07-09 13:41:31 +02:00
mergify[bot]andPablo Garrido	e43cde14ae	Graph manager: Fix participant mask for listener callbacks (#81 ) (#82 ) (cherry picked from commit `95fecd77ae`) Co-authored-by: Pablo Garrido <pablogs9@gmail.com>	2021-07-08 15:33:15 +02:00
mergify[bot]andPablo Garrido	a8caaa1b72	Fix agent launch (#78 ) (#80 ) Co-authored-by: Your Name <you@example.com> (cherry picked from commit `69f17c28a8`) Co-authored-by: Pablo Garrido <pablogs9@gmail.com>	2021-07-05 10:56:22 +02:00
mergify[bot]andPablo Garrido	ee955ed01e	Fix graph manager node namespaces (#75 ) (#77 ) * Fix graph manager node namespaces * Update (cherry picked from commit `f6a2aa3b60`) Co-authored-by: Pablo Garrido <pablogs9@gmail.com>	2021-07-02 13:42:25 +02:00
mergify[bot]andPablo Garrido	a313a088bd	Fix graph manager node namespaces (#72 ) (#74 ) (cherry picked from commit `a623308505`) Co-authored-by: Pablo Garrido <pablogs9@gmail.com>	2021-07-02 09:48:38 +02:00