1.5.0

changelog
Remove XRCE dependency and add superbuild (#97 ) (#99 )
2026-09-06 09:55:15 +02:00 · 2021-09-13 14:14:06 +02:00 · 2021-09-13 14:13:51 +02:00 · 2021-09-13 10:49:08 +02:00 · 2021-08-25 08:55:11 +02:00 · 2021-07-09 13:41:52 +02:00
9 changed files with 242 additions and 101 deletions
@@ -2,6 +2,22 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

+1.5.0 (2021-09-13)
+------------------
+* Remove XRCE dependency and add superbuild (`#97 <https://github.com/micro-ROS/micro-ROS-Agent/issues/97>`_)
+* Fixed launch file by using a list for arguments. Ensures order of items is kept. (`#93 <https://github.com/micro-ROS/micro-ROS-Agent/issues/93>`_) (`#94 <https://github.com/micro-ROS/micro-ROS-Agent/issues/94>`_)
+* 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
@@ -19,7 +19,15 @@ option(UROSAGENT_GENERATE_PROFILE
  )
 set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)

-project(micro_ros_agent LANGUAGES CXX)
+option(MICROROSAGENT_SUPERBUILD "Enable superbuild compilation." ON)
+
+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)
@@ -0,0 +1,66 @@
+# 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>
+                -DUAGENT_USE_SYSTEM_FASTDDS:BOOL=ON
+                -DUAGENT_USE_SYSTEM_FASTCDR:BOOL=ON
+                -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
+    )
@@ -89,28 +89,22 @@ public:

    /**
     * @brief   Adds a DDS participant to the graph tree.
-     * @param   participant Pointer to the participant to be added to the graph.
-     */
-    void add_participant(
-            const eprosima::fastdds::dds::DomainParticipant* participant);
-
-    /**
-     * @brief   Adds a DDS participant to the graph tree.
-     * @param   guid rtps::GUID_t of the participant to be added.
-     * @param   node_name Name of the ROS 2 node associated to the given participant.
+     * @param   participant eprosima::fastdds::dds::DomainParticipant to be added.
+     * @param   from_microros if this participant has been added from micro-ROS.
     * @param   enclave ROS 2 enclave.
     */
    void add_participant(
-            const eprosima::fastrtps::rtps::GUID_t& guid,
-            const std::string& node_name,
-            const std::string& enclave);
+            const eprosima::fastdds::dds::DomainParticipant* participant,
+            bool from_microros = true,
+            const std::string& enclave = "/");

    /**
     * @brief   Removes a DDS participant from the graph tree.
-     * @param   guid rtps::GUID_t of the participant to be removed.
+     * @param   participant eprosima::fastdds::dds::DomainParticipant to be removed.
     */
    void remove_participant(
-            const eprosima::fastrtps::rtps::GUID_t& guid);
+        const eprosima::fastdds::dds::DomainParticipant* participant,
+        bool from_microros = true);

    /**
     * @brief   Adds a DDS datawriter to the graph tree.
@@ -292,14 +286,27 @@ private:
     */
    void update_node_entities_info();

+    /**
+     * @brief   Retrieves node name and namespace from
+     *          participant.
+     * @param   participant_name DDS participant name.
+     * @param   node_name ROS2 Node name.
+     * @param   namespace ROS2 Node namespace.
+     */
+    void get_name_and_namespace(
+            std::string participant_name,
+            std::string& node_name,
+            std::string& node_namespace);
+
    eprosima::fastdds::dds::DomainId_t domain_id_;
    bool graph_changed_;
    bool display_on_change_;
-    const char * enclave_;
    std::thread microros_graph_publisher_;
    std::mutex mtx_;
    std::condition_variable cv_;

+    eprosima::fastdds::dds::DataWriterQos datawriter_qos_;
+
    rmw_dds_common::GraphCache graphCache_;
    std::unique_ptr<ParticipantListener> participant_listener_;
    std::unique_ptr<DatareaderListener> datareader_listener_;
@@ -311,9 +318,14 @@ private:
    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_discovery_datawriter_;
    std::unique_ptr<eprosima::fastdds::dds::DataWriter> ros_to_microros_graph_datawriter_;
    std::unique_ptr<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*,
+        std::unique_ptr<eprosima::fastdds::dds::DataWriter>
+    > micro_ros_graph_datawriters_;
 };

 }  // namespace graph_manager
@@ -7,6 +7,6 @@ def generate_launch_description():
            package='micro_ros_agent',
            executable='micro_ros_agent',
            name='micro_ros_agent',
-            arguments={'udp4 --port 8888 -v6'}
+            arguments=["udp4", "-p", "8888", "-v6"]
        )
    ])
@@ -2,9 +2,10 @@
 <?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>0.0.1</version>
-  <description>DDS-XCRE agent implementation </description>
-  <maintainer email="borjaouterelo@eprosima.com">Borja Outerelo</maintainer>
+  <version>1.5.0</version>
+  <description>micro-ROS Agent package</description>
+  <maintainer email="pablogarrido@eprosima.com">Pablo Garrido</maintainer>
+  <maintainer email="antoniocuadros@eprosima.com">Antonio Cuadros</maintainer>
  <license>Apache License 2.0</license>

  <buildtool_depend>ament_cmake</buildtool_depend>
@@ -14,7 +15,6 @@
  <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>
@@ -40,12 +40,7 @@ bool Agent::create(
            ([&](
                const eprosima::fastdds::dds::DomainParticipant* participant) -> void
            {
-                auto graph_manager_ =
-                    find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t(
-                        participant->get_domain_id()
-                    )
-                );
-
+                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
                graph_manager_->add_participant(participant);
            });
        xrce_dds_agent_instance_.add_middleware_callback(
@@ -61,13 +56,8 @@ bool Agent::create(
            ([&](
                const eprosima::fastdds::dds::DomainParticipant* participant) -> void
            {
-                auto graph_manager_ =
-                    find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t(
-                        participant->get_domain_id()
-                    )
-                );
-
-                graph_manager_->remove_participant(participant->guid());
+                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
+                graph_manager_->remove_participant(participant);
            });
        xrce_dds_agent_instance_.add_middleware_callback(
            eprosima::uxr::Middleware::Kind::FASTDDS,
@@ -84,11 +74,7 @@ bool Agent::create(
                const eprosima::fastdds::dds::DomainParticipant* participant,
                const eprosima::fastdds::dds::DataWriter* datawriter) -> void
            {
-                auto graph_manager_ =
-                    find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t(
-                        participant->get_domain_id()
-                    )
-                );
+                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::fastrtps::rtps::InstanceHandle_t instance_handle =
@@ -115,11 +101,7 @@ bool Agent::create(
                const eprosima::fastdds::dds::DataWriter* datawriter) -> void
            {

-                auto graph_manager_ =
-                    find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t(
-                        participant->get_domain_id()
-                    )
-                );
+                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::fastrtps::rtps::InstanceHandle_t instance_handle =
@@ -144,11 +126,7 @@ bool Agent::create(
                const eprosima::fastdds::dds::DomainParticipant* participant,
                const eprosima::fastdds::dds::DataReader* datareader) -> void
            {
-                auto graph_manager_ =
-                    find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t(
-                        participant->get_domain_id()
-                    )
-                );
+                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::fastrtps::rtps::InstanceHandle_t instance_handle =
@@ -174,11 +152,7 @@ bool Agent::create(
                const eprosima::fastdds::dds::DomainParticipant* participant,
                const eprosima::fastdds::dds::DataReader* datareader) -> void
            {
-                auto graph_manager_ =
-                    find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t(
-                        participant->get_domain_id()
-                    )
-                );
+                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::fastrtps::rtps::InstanceHandle_t instance_handle =
@@ -204,16 +178,14 @@ void Agent::run()

 std::shared_ptr<graph_manager::GraphManager> Agent::find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id)
 {
-    auto it = graph_manager_map_.find(domain_id);
+
+auto it = graph_manager_map_.find(domain_id);

    if (it != graph_manager_map_.end()) {
        return it->second;
    }else{
        return graph_manager_map_.insert(
-            std::pair<
-                eprosima::fastdds::dds::DomainId_t,
-                std::shared_ptr<graph_manager::GraphManager>
-            >(
+            std::make_pair(
                domain_id,
                std::make_shared<graph_manager::GraphManager>(domain_id)
            )
@@ -22,11 +22,9 @@ namespace agent {
 namespace graph_manager {

 GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
-    // : eprosima::fastrtps::ParticipantListener()
    : domain_id_(domain_id)
    , graph_changed_(false)
    , display_on_change_(false)
-    , enclave_("/")
    , mtx_()
    , cv_()
    , graphCache_()
@@ -37,23 +35,27 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
    , microros_graph_info_typesupport_(std::make_unique<
        eprosima::fastdds::dds::TypeSupport>(new graph_manager::MicrorosGraphInfoTypeSupport()))
 {
+    eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->load_profiles();
+
    // Create DomainParticipant
    eprosima::fastdds::dds::DomainParticipantQos participant_qos =
        eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->get_default_participant_qos();

-    size_t length = snprintf(nullptr, 0, "enclave=%s;", enclave_) + 1;
+    const char * enclave = "/";
+    size_t length = snprintf(nullptr, 0, "enclave=%s;", enclave) + 1;
    participant_qos.user_data().resize(length);
    snprintf(reinterpret_cast<char *>(participant_qos.user_data().data_vec().data()),
-        length, "enclave=%s;", enclave_);
+        length, "enclave=%s;", enclave);

-    participant_qos.name(enclave_);
+    participant_qos.name(enclave);
    participant_qos.wire_protocol().builtin.readerHistoryMemoryPolicy =
        eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
    participant_qos.wire_protocol().builtin.writerHistoryMemoryPolicy =
        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()));
+        create_participant(domain_id_, participant_qos, participant_listener_.get(), par_mask));

    // Register participant within typesupport
    participant_->register_type(*participant_info_typesupport_);
@@ -77,28 +79,26 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
        eprosima::fastdds::dds::TOPIC_QOS_DEFAULT));

    // Create datawriters
-    eprosima::fastdds::dds::DataWriterQos datawriter_qos =
+    datawriter_qos_ =
        eprosima::fastdds::dds::DATAWRITER_QOS_DEFAULT;

-    datawriter_qos.history().kind =
+    datawriter_qos_.history().kind =
        eprosima::fastdds::dds::HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
-    datawriter_qos.history().depth = 1;
-    datawriter_qos.endpoint().history_memory_policy =
+    datawriter_qos_.history().depth = 1;
+    datawriter_qos_.endpoint().history_memory_policy =
        eprosima::fastrtps::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
-    datawriter_qos.publish_mode().kind =
+    datawriter_qos_.publish_mode().kind =
        eprosima::fastdds::dds::PublishModeQosPolicyKind::ASYNCHRONOUS_PUBLISH_MODE;
-    datawriter_qos.reliability().kind =
+    datawriter_qos_.reliability().kind =
        eprosima::fastdds::dds::ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
-    datawriter_qos.durability().kind =
+    datawriter_qos_.durability().kind =
        eprosima::fastdds::dds::DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;

-    ros_discovery_datawriter_.reset(
-        publisher_->create_datawriter(ros_discovery_topic_.get(), datawriter_qos));
-
-    datawriter_qos.history().kind =
+    eprosima::fastdds::dds::DataWriterQos ros_to_microros_datawriter_qos_ = datawriter_qos_;
+    ros_to_microros_datawriter_qos_.history().kind =
        eprosima::fastdds::dds::HistoryQosPolicyKind::KEEP_ALL_HISTORY_QOS;
    ros_to_microros_graph_datawriter_.reset(
-        publisher_->create_datawriter(ros_to_microros_graph_topic_.get(), datawriter_qos));
+        publisher_->create_datawriter(ros_to_microros_graph_topic_.get(), ros_to_microros_datawriter_qos_));

    // Create datareaders

@@ -292,34 +292,55 @@ inline void GraphManager::publish_microros_graph()
 }

 void GraphManager::add_participant(
-        const eprosima::fastdds::dds::DomainParticipant* participant)
-{
-    const eprosima::fastdds::dds::DomainParticipantQos qos = participant->get_qos();
-    this->add_participant(participant->guid(), qos.name().to_string(), enclave_);
-}
-
-void GraphManager::add_participant(
-        const eprosima::fastrtps::rtps::GUID_t& guid,
-        const std::string& node_name,
+        const eprosima::fastdds::dds::DomainParticipant* participant,
+        bool from_microros,
        const std::string& enclave)
 {
-    const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", guid);
+    const eprosima::fastdds::dds::DomainParticipantQos qos = participant->get_qos();
+    const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", participant->guid());

    graphCache_.add_participant(gid, enclave);

-    if (node_name != enclave) // Do not add root node
+    // Do not add root node and
+    // do not announce non-micro-ROS participants
+    if (qos.name().to_string() != "/" && from_microros)
    {
+        std::string isolated_node_name, isolated_namespace;
+        get_name_and_namespace(qos.name().to_string(), isolated_node_name, isolated_namespace);
+
        rmw_dds_common::msg::ParticipantEntitiesInfo info =
-            graphCache_.add_node(gid, node_name, enclave_);
-        ros_discovery_datawriter_->write(static_cast<void *>(&info));
+            graphCache_.add_node(gid, isolated_node_name, isolated_namespace);
+
+        auto it = micro_ros_graph_datawriters_.find(participant);
+        if (it == micro_ros_graph_datawriters_.end())
+        {
+            // Create datawriter
+            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, std::move(datawriter))).first;
+        }
+
+        it->second->write(static_cast<void *>(&info));
    }
 }

 void GraphManager::remove_participant(
-        const eprosima::fastrtps::rtps::GUID_t& guid)
+        const eprosima::fastdds::dds::DomainParticipant* participant,
+        bool from_microros)
 {
-    const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", guid);
+    const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", participant->guid());
    graphCache_.remove_participant(gid);
+
+    if (from_microros)
+    {
+        rmw_dds_common::msg::ParticipantEntitiesInfo info;
+        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));
+    }
+    micro_ros_graph_datawriters_.erase(participant);
 }

 void GraphManager::add_datawriter(
@@ -449,14 +470,18 @@ void GraphManager::associate_entity(
    {
        case dds::xrce::OBJK_DATAWRITER:
        {
+            std::string isolated_node_name, isolated_namespace;
+            get_name_and_namespace(qos.name().c_str(), isolated_node_name, isolated_namespace);
            info = graphCache_.associate_writer(
-                entity_gid, participant_gid, qos.name().c_str(), enclave_);
+                entity_gid, participant_gid, isolated_node_name, isolated_namespace);
            break;
        }
        case dds::xrce::OBJK_DATAREADER:
        {
+            std::string isolated_node_name, isolated_namespace;
+            get_name_and_namespace(qos.name().c_str(), isolated_node_name, isolated_namespace);
            info = graphCache_.associate_reader(
-                entity_gid, participant_gid, qos.name().c_str(), enclave_);
+                entity_gid, participant_gid, isolated_node_name, isolated_namespace);
            break;
        }
        default:
@@ -464,7 +489,9 @@ void GraphManager::associate_entity(
            break;
        }
    }
-    ros_discovery_datawriter_->write(static_cast<void *>(&info));
+
+    auto it = micro_ros_graph_datawriters_.find(participant);
+    it->second->write(static_cast<void *>(&info));
 }


@@ -556,6 +583,43 @@ void GraphManager::update_node_entities_info()
    }
 }

+void GraphManager::get_name_and_namespace(
+    std::string participant_name,
+    std::string& node_name,
+    std::string& node_namespace)
+{
+    // Remove first / if exists
+    if (participant_name.rfind("/", 0) == 0)
+    {
+        participant_name.erase(participant_name.begin());
+    }
+
+    // Split node name in domain and node name
+    std::istringstream iss(participant_name);
+    std::vector<std::string> result;
+    std::string token;
+
+    while(std::getline(iss, token, '/'))
+    {
+        result.push_back(token);
+    }
+
+    if (result.size() > 1)
+    {
+        node_namespace = "/" + result[0];
+        for (size_t i = 1; i < result.size(); i++)
+        {
+            node_name.append(result[i] + "/");
+        }
+        node_name.pop_back();
+    }
+    else
+    {
+        node_name = participant_name;
+        node_namespace = "/";
+    }
+}
+
 GraphManager::ParticipantListener::ParticipantListener(
        GraphManager* graph_manager)
    : eprosima::fastdds::dds::DomainParticipantListener()
@@ -581,13 +645,13 @@ void GraphManager::ParticipantListener::on_participant_discovery(
            const std::string enclave =
                std::string(name_found->second.begin(), name_found->second.end());

-            graphManager_from_->add_participant(participant->guid(), info.info.m_participantName.to_string(), enclave);
+            graphManager_from_->add_participant(participant, false, enclave);
            break;
        }
        case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT:
        case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DROPPED_PARTICIPANT:
        {
-            graphManager_from_->remove_participant(info.info.m_guid);
+            graphManager_from_->remove_participant(participant, false);
            break;
        }
        default:
@@ -656,7 +720,6 @@ void GraphManager::ParticipantListener::on_subscriber_discovery(
        eprosima::fastrtps::rtps::ReaderDiscoveryInfo&& info)
 {
    process_discovery_info<eprosima::fastrtps::rtps::ReaderDiscoveryInfo>(info);
-    // graphManager_from_->associate_entity(info.info.guid(), participant, dds::xrce::OBJK_DATAREADER);
 }

 void GraphManager::ParticipantListener::on_publisher_discovery(
@@ -664,7 +727,6 @@ void GraphManager::ParticipantListener::on_publisher_discovery(
        eprosima::fastrtps::rtps::WriterDiscoveryInfo&& info)
 {
    process_discovery_info<eprosima::fastrtps::rtps::WriterDiscoveryInfo>(info);
-    // graphManager_from_->associate_entity(info.info.guid(), participant, dds::xrce::OBJK_DATAWRITER);
 }

 GraphManager::DatareaderListener::DatareaderListener(
@@ -684,4 +746,4 @@ void GraphManager::DatareaderListener::on_data_available(
 }  // namespace agent
 }  // namespace uros

-#endif  // _UROS_AGENT_GRAPH_MANAGER_CPP
+#endif  // _UROS_AGENT_GRAPH_MANAGER_CPP
@@ -27,6 +27,11 @@ int main(int argc, char** argv)
    std::vector<std::string> params;
    for (int i = 0; i < argc; ++i)
    {
+        if(strcmp("--ros-args", argv[i]) == 0)
+        {
+            argc = i;
+            break;
+        }
        params.emplace_back(std::string(argv[i]));
    }
Author	SHA1	Message	Date
Your Name	37885214e1	1.5.0	2021-09-13 14:14:06 +02:00
Pablo Garrido	820bcdb5f6	changelog	2021-09-13 14:13:51 +02:00
mergify[bot]andPablo Garrido	fd5bc39536	Remove XRCE dependency and add superbuild (#97 ) (#99 ) Update package info Update Fix xrceagent paths Update Revert "Bump version" This reverts commit 7b6b713041405a21d701952ef1eb2e8faab2802e. Initial (cherry picked from commit `ceb1a1436c`) Co-authored-by: Pablo Garrido <pablogs9@gmail.com>	2021-09-13 10:49:08 +02:00
mecarillandmecarill	fe1b3ade97	Fixed launch file by using a list for arguments. Ensures order of items is kept. (#93 ) Co-authored-by: mecarill <mihkailkennerley@gmail.com>	2021-08-25 08:55:11 +02:00
mergify[bot]andPablo Garrido	7f3f560bc7	Fix graph manager datawriters behaviour (#84 ) (#86 ) * 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 13:41:52 +02:00
mergify[bot]andPablo Garrido	80916d4949	Graph manager: Fix participant mask for listener callbacks (#81 ) (#83 ) (cherry picked from commit `95fecd77ae`) Co-authored-by: Pablo Garrido <pablogs9@gmail.com>	2021-07-08 15:33:20 +02:00
mergify[bot]andPablo Garrido	d1e851ba4e	Fix agent launch (#78 ) (#79 ) Co-authored-by: Your Name <you@example.com> (cherry picked from commit `69f17c28a8`) Co-authored-by: Pablo Garrido <pablogs9@gmail.com>	2021-07-05 10:56:24 +02:00
mergify[bot]andPablo Garrido	6047f7135d	Fix graph manager node namespaces (#75 ) (#76 ) * Fix graph manager node namespaces * Update (cherry picked from commit `f6a2aa3b60`) Co-authored-by: Pablo Garrido <pablogs9@gmail.com>	2021-07-02 13:42:03 +02:00
mergify[bot]andPablo Garrido	9d3fbc63a0	Fix graph manager node namespaces (backport #72 ) (#73 ) * Fix graph manager node namespaces (#72) (cherry picked from commit `a623308505`) # Conflicts: # micro_ros_agent/src/agent/graph_manager/graph_manager.cpp * Update graph_manager.cpp Co-authored-by: Pablo Garrido <pablogs9@gmail.com>	2021-07-02 09:51:40 +02:00