Rename package. (#12 )

Update README.md
Update micro-xrce-dds-agent package name.
2026-09-06 18:05:17 +02:00 · 2019-04-24 18:23:13 +02:00 · 2019-04-24 16:09:52 +02:00 · 2019-04-24 15:39:57 +02:00 · 2019-04-24 08:46:25 +02:00 · 2019-04-24 08:32:40 +02:00
24 changed files with 1952 additions and 472 deletions
@@ -1,60 +0,0 @@
 # Copyright 2018 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 CMake version 
 cmake_minimum_required(VERSION 3.5)
 # Set proyect name
 project(micro_ros_agent)
 # Find packages depencences
 find_package(ament_cmake REQUIRED)
 find_package(fastcdr REQUIRED CONFIG)
 find_package(fastrtps REQUIRED CONFIG)
 find_package(micrortps_agent REQUIRED CONFIG)
 find_package(ament_cmake_python REQUIRED)
 # Export dependencies to downstream packages
 ament_export_dependencies(fastcdr)
 ament_export_dependencies(fastrtps)
 ament_export_dependencies(micrortps_agent)
 # Install python files
 ament_python_install_package(${PROJECT_NAME})
 # Register package resource in order to be called when a new msg package is generated
 ament_index_register_resource("rosidl_typesupport_c")
 # Install the package.xml file, and generate code for ``find_package`` so that other packages can get information about this package.
 ament_package(
  CONFIG_EXTRAS "micro_ros_agent-extras.cmake.in"
 )
 install(
  PROGRAMS bin/micro_ros_agent
  DESTINATION lib/micro_ros_agent
 )
 install(
  DIRECTORY cmake resource
  DESTINATION share/${PROJECT_NAME}
 )
@@ -0,0 +1,201 @@
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@@ -1,2 +1,7 @@
-# micro-ros-agent
+# micro-ROS-Agent
 [![GitHub license](https://img.shields.io/github/license/microROS/micro-ROS-Agent.svg)](https://github.com/microROS/micro-ROS-Agent)
 [![GitHub release](https://img.shields.io/github/release/microROS/micro-ROS-Agent.svg)](https://github.com/microROS/micro-ROS-Agent/releases)
 ROS 2 package using Micro XRCE-DDS Agent.
@@ -1,45 +0,0 @@
 #!/usr/bin/env python3
 import argparse
 import os
 import sys
 from rosidl_cmake import read_generator_arguments
 from rosidl_parser import UnknownMessageType
 from micro_ros_agent import generate_micro_ros_agent_xml_support
 def is_valid_file(parser, file_name):
    if not os.path.exists(file_name):
        parser.error("File does not exist: '{0}'".format(file_name))
    file_name_abs = os.path.abspath(file_name)
    if not os.path.isfile(file_name_abs):
        parser.error("Path exists but is not a file: '{0}'".format(file_name_abs))
    return file_name
 def main(argv=sys.argv[1:]):
    parser = argparse.ArgumentParser(
        description='Generate xml files for micrortps agent.',
        formatter_class=argparse.ArgumentDefaultsHelpFormatter)
    parser.add_argument(
        '--generator-arguments-file',
        required=True,
        help='The location of the file containing the generator arguments')
    args = parser.parse_args(argv)
    generator_args = read_generator_arguments(args.generator_arguments_file)
    try:
        rc = generate_micro_ros_agent_xml_support(generator_args)
        return 0
    except UnknownMessageType as e:
        print(str(e), file=sys.stderr)
        return 1
    if rc:
        return rc
    return 0
 if __name__ == '__main__':
    sys.exit(main())
@@ -1,69 +0,0 @@
 # Copyright 2016-2018 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.
 # list msg files 
 set(_ros_idl_files "")
 foreach(_idl_file ${rosidl_generate_interfaces_IDL_FILES})
  get_filename_component(_extension "${_idl_file}" EXT)
  # Skip .srv files
  if(_extension STREQUAL ".msg")
    list(APPEND _ros_idl_files "${_idl_file}")
  endif()
 endforeach()
 # Set output dir
 set(_output_path "${CMAKE_CURRENT_BINARY_DIR}/../micro_ros_agent/xml_gen")
 # check if all templates exits
 set(target_dependencies
  "${micro_ros_agent_BIN}"
  "${micro_ros_agent_GENERATOR_FILES}"
  ${rosidl_generate_interfaces_IDL_FILES}
  ${_dependency_files})
 foreach(dep ${target_dependencies})
  if(NOT EXISTS "${dep}")
    message(FATAL_ERROR "Target dependency '${dep}' does not exist")
  endif()
 endforeach()
 # generate script argument file 
 set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/micro_ros_agent__arguments.json")
 rosidl_write_generator_arguments(
  "${generator_arguments_file}"
  PACKAGE_NAME "${PROJECT_NAME}"
  ROS_INTERFACE_FILES "${rosidl_generate_interfaces_IDL_FILES}"
  ROS_INTERFACE_DEPENDENCIES "${_dependencies}"
  OUTPUT_DIR "${_output_path}"
  TEMPLATE_DIR "${micro_ros_agent_DEFAULT_PROFILES_DIR}"
  TARGET_DEPENDENCIES ${target_dependencies}
  ADDITIONAL_FILES ${_dds_idl_files}
 )
 # Execute python script
 execute_process(
                COMMAND ${PYTHON_EXECUTABLE} ${micro_ros_agent_BIN}
                --generator-arguments-file "${generator_arguments_file}"
                )
 #Install
 install(
  DIRECTORY "${_output_path}/"
  DESTINATION "../micrortps_agent/bin"
 )
@@ -1,14 +0,0 @@
 find_package(ament_cmake_core QUIET REQUIRED)
 ament_register_extension(
  "rosidl_generate_interfaces"
  "micro_ros_agent"
  "micrortps_agent_xml_generator.cmake")
 set(micro_ros_agent_BIN "${micro_ros_agent_DIR}/../../../lib/micro_ros_agent/micro_ros_agent")
 normalize_path(micro_ros_agent_BIN "${micro_ros_agent_BIN}")
 set(micro_ros_agent_GENERATOR_FILES "${micro_ros_agent_DIR}/../../../@PYTHON_INSTALL_DIR@/micro_ros_agent/__init__.py")
 normalize_path(micro_ros_agent_GENERATOR_FILES "${micro_ros_agent_GENERATOR_FILES}")
 set(micro_ros_agent_DEFAULT_PROFILES_DIR "${micro_ros_agent_DIR}/../resource")
 normalize_path(micro_ros_agent_DEFAULT_PROFILES_DIR "${micro_ros_agent_DEFAULT_PROFILES_DIR}")
@@ -0,0 +1,8 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 0.0.1 (2019-04-24)
 -----------------
 * Initial release
@@ -0,0 +1,258 @@
 # Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
 # You may obtain a copy of the License at
 #
 #     http://www.apache.org/licenses/LICENSE-2.0
 #
 # Unless required by applicable law or agreed to in writing, software
 # distributed under the License is distributed on an "AS IS" BASIS,
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
 # Set CMake version 
 cmake_minimum_required(VERSION 3.5)
 # Set proyect name
 project(micro_ros_agent)
 set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)
 # Default to C++14
 if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 # Find packages depencences
 find_package(rosidl_cmake REQUIRED)
 find_package(ament_cmake REQUIRED)
 find_package(fastcdr REQUIRED CONFIG)
 find_package(fastrtps REQUIRED CONFIG)
 find_package(microxrcedds_agent REQUIRED CONFIG)
 find_package(ament_cmake_python REQUIRED)
 # Export dependencies to downstream packages
 ament_export_dependencies(fastcdr)
 ament_export_dependencies(fastrtps)
 ament_export_dependencies(microxrcedds_agent)
 # Set variables
 set(_OUTPUT_PATH "${CMAKE_CURRENT_BINARY_DIR}/python")
 set(_XML_INTERFACE_GEN_BIN "${_OUTPUT_PATH}/bin/Xml_interface_gen.py")
 normalize_path(_XML_INTERFACE_GEN_BIN "${_XML_INTERFACE_GEN_BIN}")
 set(_XML_DEFAULT_READ_BIN "${_OUTPUT_PATH}/bin/Xml_read_default_profiles.py")
 normalize_path(_XML_DEFAULT_READ_BIN "${_XML_DEFAULT_READ_BIN}")
 set(_PYTHON_PKG_TOOL ${PROJECT_NAME})
 set(_RESOURCE_DIR "${_OUTPUT_PATH}/resource")
 normalize_path(_RESOURCE_DIR "${_RESOURCE_DIR}")
 set(_DEFAULT_FASTRTPS_PROFILES_PATH "${_OUTPUT_PATH}/gen/DEFAULT_FASTRTPS_PROFILES.xml")
 normalize_path(_DEFAULT_FASTRTPS_PROFILES_PATH "${_DEFAULT_FASTRTPS_PROFILES_PATH}")
 # Get colcon call dir
 get_filename_component(_COLCON_CALL_DIR "${PROJECT_BINARY_DIR}" DIRECTORY)
 get_filename_component(_COLCON_CALL_DIR "${_COLCON_CALL_DIR}" DIRECTORY)
 # Generate python header
 set(
 _PYTHON_SCRIPT_HEAD
 "
 import os\n
 import sys\n
 sys.path.append('${_OUTPUT_PATH}')\n
 from ${_PYTHON_PKG_TOOL} import *\n
 "
 )
 # Copy pyton files  
 file(COPY "bin" "${_PYTHON_PKG_TOOL}" "resource" DESTINATION "${CMAKE_CURRENT_BINARY_DIR}/python")
 # Extract all packages and manifiest paths
 execute_process(
  COMMAND
  "${PYTHON_EXECUTABLE}"
  "-c"
  "${_PYTHON_SCRIPT_HEAD}for package in GetInterfacePackages(GetPackageList('${_COLCON_CALL_DIR}')): print ('%s,%s' % (package, GetPackageName(package)))"
  OUTPUT_VARIABLE _packages
  RESULT_VARIABLE _result
  OUTPUT_STRIP_TRAILING_WHITESPACE
 )
 if(NOT _result EQUAL 0)
  message(FATAL_ERROR "Error finding xml packages")
 endif()
 # Convert output to list
 string(REPLACE "\n" ";" _packages ${_packages})
 # Extract all msg from each package (stored in ${package}_MSG_FILES)
 set(ALL_MSG_FILES "")
 foreach(package ${_packages})
  # Extract info
  string(REPLACE "," ";" package ${package})
  list(GET package 0 package_file)
  list(GET package 1 package)
  # Get all msg files
  execute_process(
  COMMAND
  "${PYTHON_EXECUTABLE}"
  "-c"
  "${_PYTHON_SCRIPT_HEAD}for msg in GetInterfacePackageMsgs('${package_file}'): print ('%s' % msg)"
  OUTPUT_VARIABLE ${package}_MSG_FILES
  RESULT_VARIABLE _result
  OUTPUT_STRIP_TRAILING_WHITESPACE
  )
  if(NOT _result EQUAL 0)
    message(FATAL_ERROR "Error finding .msg files")
  endif()
  # Skip if there are no msgs to create
  if(${package}_MSG_FILES STREQUAL "")
    continue()
  endif()
  # Generate list
  string(REPLACE "\n" ";" ${package}_MSG_FILES ${${package}_MSG_FILES})
 endforeach()
 # Append defaul xml profiles
 execute_process(
  COMMAND "${PYTHON_EXECUTABLE}" "${_XML_DEFAULT_READ_BIN}" "--default-xml-path" "${_RESOURCE_DIR}"
  OUTPUT_VARIABLE _XmlDoc
  RESULT_VARIABLE _result
  )
 if(NOT _result EQUAL 0)
  message(FATAL_ERROR "Error in typesuppor generation") 
 endif()
 # Create one xml for each message
 foreach(package ${_packages})
  string(REPLACE "," ";" package ${package})
  list(GET package 0 package_file)
  list(GET package 1 package)
  # Skip this generation if there are no msgs to process
  if(${package}_MSG_FILES STREQUAL "")
    continue()
  endif()
  # generate script argument file 
  set(generator_arguments_file "${_OUTPUT_PATH}/XML_ArgFiles/${package}_Args.json")
  rosidl_write_generator_arguments(
    "${generator_arguments_file}"
    PACKAGE_NAME "${package}"
    ROS_INTERFACE_FILES "${${package}_MSG_FILES}"
    ROS_INTERFACE_DEPENDENCIES "NULL"
    OUTPUT_DIR "NULL"
    TEMPLATE_DIR "NULL"
    TARGET_DEPENDENCIES "NULL"
    ADDITIONAL_FILES ""
  )
   # execute python script
   execute_process(
    COMMAND "${PYTHON_EXECUTABLE}" "${_XML_INTERFACE_GEN_BIN}" --generator-arguments-file "${generator_arguments_file}"
    OUTPUT_VARIABLE _XmlGen
    RESULT_VARIABLE _result
    )
  if(NOT _result EQUAL 0)
    message(FATAL_ERROR "Error in typesuppor generation") 
  endif()
  # Strore xml
  set(_XmlDoc "${_XmlDoc}${_XmlGen}")
 endforeach()
 # Close profile 
 set (_XmlDoc "<profiles>\n${_XmlDoc}</profiles>\n")
 # Save 
 file(WRITE "${_DEFAULT_FASTRTPS_PROFILES_PATH}" "${_XmlDoc}")
 # Only compile uROS agent if rclcpp is found
 find_package(rclcpp QUIET)
 if (rclcpp_FOUND)
  find_package(microxrcedds_agent_cmake_module REQUIRED)
  find_package(MicroXRCEDDS_Agent REQUIRED MODULE)
  add_executable(${PROJECT_NAME} src/main.cpp)
  ament_target_dependencies(
    ${PROJECT_NAME} 
    rclcpp
    microxrcedds_agent
  )
  # TODO(Javier) Temporal until thread error is solver
  target_link_libraries(
    ${PROJECT_NAME}
    microxrcedds_agent
  )
 else()
  message("uROS agent node will be not build")
 endif()
 # Install the package.xml file, and generate code for ``find_package`` so that other packages can get information about this package.
 ament_package()
 # Only install if uROS_Agent is comiled
 if (rclcpp_FOUND)
  install(TARGETS
    ${PROJECT_NAME}
    DESTINATION lib/${PROJECT_NAME}
  )
 endif()
 #Install
 install(
  FILES "${_DEFAULT_FASTRTPS_PROFILES_PATH}"
  DESTINATION lib/${PROJECT_NAME}
 )
 # Install package
 #install(
 #  DIRECTORY cmake resource
 #  DESTINATION share/${PROJECT_NAME}
 #)
@@ -0,0 +1,676 @@
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@@ -0,0 +1,31 @@
 # Micro ROS Agent
 ## Overview
 This repository contains the Micro-ROS Agent package.
 Micro-ROS Agent is a ROS 2 node that wraps the Micro XRCE-DDS Agent.
 For further information about Micro XRCE-DDS Agent click [here](https://github.com/eProsima/Micro-XRCE-DDS-Agent)
 This package is a part of the Micro-ROS project stack.
 For more information about Micro-ROS project click [here](https://microros.github.io/micro-ROS/).
 The node acts as a server between DDS Network and Micro-ROS nodes inside MCU.
 It receives and send messages from Micro-ROS nodes, and keep track of the Micro-ROS nodes exposing them to the ROS 2 network.
 The node interacts with DDS Global Data Space on behalf of the Micro-ROS nodes.
 ## Package features
 ### XML generation
 During the build process, the package looks for all ROS 2 messages to generate an initial list of XML profiles.
 These profiles can are referenced in the Agent-Client communication to avoid sending the full XML content.
 This reference mechanism can be switched on and off from the Micro XRCE-DDS middleware layer.
 ### Agent-Client communication mechanism
 Communication between the Micro-ROS Agent and the Micro-ROS nodes supports two types of transport:
 - UDP.
 - SerialPort.
 All available configurations are supported directly by the Micro XRCE-DDS agent.
 For further information on how to configure the agent click [here](TODO).
@@ -1,241 +0,0 @@
 # Copyright 2016-2018 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.
 import struct
 import os
 import sys
 if os.name == 'nt':
    import win32con
    import win32file
    import pywintypes
    __overlapped = pywintypes.OVERLAPPED()
 elif os.name == 'posix':
    import fcntl
 else:
    raise RuntimeError('PortaLocker only defined for nt and posix platforms')       
 from rosidl_cmake import convert_camel_case_to_lower_case_underscore
 from rosidl_cmake import expand_template
 from rosidl_cmake import extract_message_types
 from rosidl_cmake import get_newest_modification_time
 from rosidl_parser import parse_message_file
 from rosidl_parser import parse_service_file
 from rosidl_parser import validate_field_types
 from shutil import copyfile
 from pathlib import Path
 def generate_micro_ros_agent_xml_support(args):    
    pkg_name = args['package_name']
    known_msg_types = extract_message_types(
        pkg_name, args['ros_interface_files'], args.get('ros_interface_dependencies', []))
    functions = {
        'get_header_filename_from_msg_name': convert_camel_case_to_lower_case_underscore,
    }
    # Set file format
    file_format = ".xml"
    ros2_prefix = "rt/"
    # Check destination dir
    dest_dir = args['output_dir']
    if not os.path.exists(dest_dir):
        os.makedirs(dest_dir)
    # Check source dir
    srcs_dir = os.path.join(dest_dir, "srcs")
    if not os.path.exists(srcs_dir):
        os.makedirs(srcs_dir)
    # Copy all included xml files
    for filename in os.listdir(args['template_dir']):
        if filename.endswith(file_format): 
            template_src_path = os.path.join(args['template_dir'], filename)
            template_dest_path = os.path.join(srcs_dir, filename)
            if not os.path.isfile(template_dest_path):
                copyfile(template_src_path, template_dest_path)
    # Iterate throw all msgs/srvs
    for idl_file in args['ros_interface_files']:
        extension = os.path.splitext(idl_file)[1]
        if extension == '.msg':
            spec = parse_message_file(pkg_name, idl_file)
            validate_field_types(spec, known_msg_types)
            subfolder = os.path.basename(os.path.dirname(idl_file))
            data = {
                'spec': spec,
                'pkg': spec.base_type.pkg_name,
                'msg': spec.msg_name,
                'type': spec.base_type.type,
                'subfolder': subfolder,
            }
            data.update(functions)
            # Generate source file path
            src_file = os.path.join(srcs_dir, "%s_%s_%s.xml" % (spec.base_type.pkg_name, subfolder, spec.msg_name))
            # Publisher
            file_content  = "   <publisher profile_name=\"%s_%s_%s_p\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
            file_content += "       <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
            file_content += "           <kind>NO_KEY</kind>\n"
            file_content += "           <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
            file_content += "           <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
            file_content += "           <historyQos>\n"
            file_content += "               <kind>KEEP_LAST</kind>\n"
            file_content += "               <depth>5</depth>\n"
            file_content += "           </historyQos>\n"
            file_content += "           <durability>\n"
            file_content += "               <kind>TRANSIENT_LOCAL</kind>\n"
            file_content += "           </durability>\n"
            file_content += "       </topic>\n"
            file_content += "   </publisher>\n"
            # Subscriber
            file_content += "   <subscriber profile_name=\"%s_%s_%s_s\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
            file_content += "       <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
            file_content += "           <kind>NO_KEY</kind>\n"
            file_content += "           <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
            file_content += "           <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
            file_content += "           <historyQos>\n"
            file_content += "               <kind>KEEP_LAST</kind>\n"
            file_content += "               <depth>5</depth>\n"
            file_content += "           </historyQos>\n"
            file_content += "           <durability>\n"
            file_content += "               <kind>TRANSIENT_LOCAL</kind>\n"
            file_content += "           </durability>\n"
            file_content += "       </topic>\n"
            file_content += "   </subscriber>\n"
            # Topic
            file_content += "   <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
            file_content += "       <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
            file_content += "       <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
            file_content += "   </topic>\n"
            # Write file content
            fd1 = open(src_file, "w")
            if os.name == 'nt':
                # Lock
                hfile1 = win32file._get_osfhandle(fd1.fileno())
                win32file.LockFileEx(hfile1, win32con.LOCKFILE_EXCLUSIVE_LOCK, 0, -0x10000, __overlapped)
                # Write
                fd1.write(file_content)
                # Unlock
                win32file.UnlockFileEx(hfile1, 0, -0x10000, __overlapped)
            elif os.name == 'posix':
                # Lock
                fcntl.flock(fd1.fileno(), fcntl.LOCK_EX)
                # Write
                fd1.write(file_content)
                # Unlock
                fcntl.flock(fd1.fileno(), fcntl.LOCK_UN)
            fd1.close()
            # Open collect file
            collec_file = os.path.join(args['output_dir'], "DEFAULT_FASTRTPS_PROFILES.xml")
            fd2 = open(collec_file, "w")
            if os.name == 'nt':
                # Lock
                hfile2 = win32file._get_osfhandle(fd2.fileno())
                win32file.LockFileEx(hfile2, win32con.LOCKFILE_EXCLUSIVE_LOCK, 0, -0x10000, __overlapped)
                # Generate head
                fd2.write("<profiles>\n")
                # Append all files contents
                for filename in os.listdir(srcs_dir):
                    if filename.endswith(".xml"): 
                        # Open
                        fd3 = open(os.path.join(srcs_dir, filename), "r+")
                        # Lock
                        hfile3 = win32file._get_osfhandle(fd3.fileno())
                        win32file.LockFileEx(hfile3, win32con.LOCKFILE_EXCLUSIVE_LOCK, 0, -0x10000, __overlapped)
                        # Write
                        fd2.write(fd3.read())
                        # Unlock
                        win32file.UnlockFileEx(hfile3, 0, -0x10000, __overlapped)
                        fd3.close()
                # Generate tail
                fd2.write("</profiles>\n") 
                # UnLock
                win32file.UnlockFileEx(hfile2, 0, -0x10000, __overlapped)
            elif os.name == 'posix':
                # Lock
                fcntl.flock(fd2.fileno(), fcntl.LOCK_EX)
                # Generate head
                fd2.write("<profiles>\n")
                # Append all files contents
                for filename in os.listdir(srcs_dir):
                    if filename.endswith(".xml"): 
                        # Open
                        fd3 = open(os.path.join(srcs_dir, filename), "r+")
                        # Lock
                        fcntl.flock(fd3, fcntl.LOCK_EX)
                        # Write
                        fd2.write(fd3.read())
                        # Unlock
                        fcntl.flock(fd3.fileno(), fcntl.LOCK_UN)
                        # Close
                        fd3.close()
                # Generate tail
                fd2.write("</profiles>\n") 
                # UnLock
                fcntl.flock(fd2.fileno(), fcntl.LOCK_UN)
            # Close file
            fd2.close()
        #elif extension == '.srv':
            #data = {'spec': spec}
            #data.update(functions)
            #if not os.path.exists(args['output_dir']):
            #    os.makedirs(args['output_dir'])
            #f = open(os.path.join(args['output_dir'], 'demofile.txt'), 'w+')
            #f.write("%s\n" % spec)
            #f.close()
    return 0
@@ -0,0 +1,30 @@
 #!/usr/bin/env python3
 import argparse
 import os
 import sys
 sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)),'..'))
 from rosidl_cmake import read_generator_arguments
 from rosidl_parser import UnknownMessageType
 from micro_ros_agent import generate_XML
 def main(argv=sys.argv[1:]):
    parser = argparse.ArgumentParser(
        description='Generate the C interfaces for Micro RTPS.',
        formatter_class=argparse.ArgumentDefaultsHelpFormatter)
    parser.add_argument(
        '--generator-arguments-file',
        required=True,
        help='The location of the file containing the generator arguments')
    args = parser.parse_args(argv)
    generator_args = read_generator_arguments(args.generator_arguments_file)
    rc = generate_XML(generator_args)
    return rc
 if __name__ == '__main__':
    sys.exit(main())
@@ -0,0 +1,26 @@
 #!/usr/bin/env python3
 import os
 import sys
 import argparse
 import xml.etree.ElementTree
 sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)),'..'))
 from micro_ros_agent import *
 def main(argv=sys.argv[1:]):
    parser = argparse.ArgumentParser(
        description='Import default xml files',
        formatter_class=argparse.ArgumentDefaultsHelpFormatter)
    parser.add_argument(
        '--default-xml-path',
        required=True,
        help='The location of the default profiles')
    args = parser.parse_args(argv)
    ReadDefaultXMLs(args.default_xml_path)
    return 0
 if __name__ == '__main__':
    sys.exit(main())
@@ -0,0 +1,217 @@
 # 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.
 import os
 import sys
 import xml.etree.ElementTree
 from rosidl_cmake import convert_camel_case_to_lower_case_underscore
 from rosidl_cmake import expand_template
 from rosidl_cmake import extract_message_types
 from rosidl_cmake import get_newest_modification_time
 from rosidl_parser import parse_message_file
 from rosidl_parser import parse_service_file
 from rosidl_parser import validate_field_types
 def GetPackage(Dir):
    # ignore?
    for f in os.listdir(Dir):
        full_path = os.path.join(Dir, f)
        if os.path.isfile(full_path):
            if f == "COLCON_IGNORE":
                return "COLCON_IGNORE"
    # found package
    found_package_path = ""
    for f in os.listdir(Dir):
        if f == "package.xml":
            found_package_path = os.path.join(Dir, f)
            found_package_path = os.path.abspath(found_package_path)
            break
    return found_package_path.replace("\\", "/")
 def GetPackageList(Dir):
    package_list = []
    package_path = GetPackage(Dir)
    if package_path == "":
        for f in os.listdir(Dir):
            full_path = os.path.join(Dir, f)
            if os.path.isdir(full_path):
                for l in GetPackageList(full_path):
                    package_list.append(l)
    elif package_path != "COLCON_IGNORE":
        package_list.append(package_path)
    return package_list
 def GetInterfacePackages(packages_list):
    package_interface_list = []
    for package in packages_list:
        xml_root = xml.etree.ElementTree.parse(package).getroot()
        for element in xml_root.findall('member_of_group'):
            if element.text == "rosidl_interface_packages":
                package_interface_list.append(package)
    return package_interface_list
 def GetPackageName(package_path):
    xml_root = xml.etree.ElementTree.parse(package_path).getroot()
    xml_name_elements = xml_root.findall('name')
    if len(xml_name_elements) != 1:
        return ""
    else:
        return xml_name_elements[0].text
 def GetInterfacePackageMsgs(package_path):
    msg_list = []
    package_dir = os.path.dirname(package_path)
    for root, dirs, files in os.walk(package_dir):
        for file in files:
            if file.endswith(".msg"):
                full_path = os.path.join(root, file)
                msg_list.append(full_path.replace("\\", "/"))
    return msg_list
 def GetInterfacePackageSrvs(package_path):
    msg_list = []
    package_dir = os.path.dirname(package_path)
    for root, dirs, files in os.walk(package_dir):
        for file in files:
            if file.endswith(".srv"):
                full_path = os.path.join(root, file)
                msg_list.append(full_path.replace("\\", "/"))
    return msg_list
 def ReadDefaultXMLs(Path):
    for f in os.listdir(Path):
        full_path = os.path.join(Path, f)
        if os.path.isfile(full_path) and f.endswith(".xml"):
            #xml_root = xml.etree.ElementTree.parse(full_path).getroot()
            #if xml_root.iselement():
            fd = open(full_path)
            print ("%s" % fd.read())
            fd.close()
 def generate_XML(args):    
    pkg_name = args['package_name']
    #known_msg_types = extract_message_types(
    #    pkg_name, args['ros_interface_files'], args.get('ros_interface_dependencies', []))
    functions = {
        'get_header_filename_from_msg_name': convert_camel_case_to_lower_case_underscore,
    }
    # Set file format
    ros2_prefix = "rt/"
    # Check destination dir
    dest_dir = args['output_dir']
    if not os.path.exists(dest_dir):
        os.makedirs(dest_dir)
    # Check source dir
    srcs_dir = os.path.join(dest_dir, "srcs")
    if not os.path.exists(srcs_dir):
        os.makedirs(srcs_dir)
    # Iterate throw all msgs/srvs
    for idl_file in args['ros_interface_files']:
        extension = os.path.splitext(idl_file)[1]
        if extension == '.msg':
            spec = parse_message_file(pkg_name, idl_file)
            #validate_field_types(spec, known_msg_types)
            subfolder = os.path.basename(os.path.dirname(idl_file))
            data = {
                'spec': spec,
                'pkg': spec.base_type.pkg_name,
                'msg': spec.msg_name,
                'type': spec.base_type.type,
                'subfolder': subfolder,
            }
            data.update(functions)
            # Generate source file path
            src_file = os.path.join(srcs_dir, "%s_%s_%s.xml" % (spec.base_type.pkg_name, subfolder, spec.msg_name))
            # Data writer
            #file_content  = "   <dds>\n"
            file_content  = "       <data_writer profile_name=\"%s_%s_%s_p\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
            file_content += "           <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
            file_content += "               <kind>NO_KEY</kind>\n"
            file_content += "               <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
            file_content += "               <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
            file_content += "           </topic>\n"
            file_content += "       </data_writer>\n"
            #file_content += "   </dds>\n"
            # Data reader
            #file_content += "   <dds>\n"
            file_content += "       <data_reader profile_name=\"%s_%s_%s_s\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
            file_content += "           <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
            file_content += "               <kind>NO_KEY</kind>\n"
            file_content += "               <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
            file_content += "               <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
            file_content += "           </topic>\n"
            file_content += "       </data_reader>\n"
            #file_content += "   </dds>\n"
            # Topic
            #file_content += "   <dds>\n"
            file_content += "       <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
            file_content += "           <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
            file_content += "           <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
            file_content += "       </topic>\n"
            #file_content += "   </dds>\n"
            # Write file content
            print ("%s" % file_content)
        #elif extension == '.srv':
            #data = {'spec': spec}
            #data.update(functions)
            #if not os.path.exists(args['output_dir']):
            #    os.makedirs(args['output_dir'])
            #f = open(os.path.join(args['output_dir'], 'demofile.txt'), 'w+')
            #f.write("%s\n" % spec)
            #f.close()
    return 0
@@ -4,7 +4,7 @@
  <name>micro_ros_agent</name>
  <version>0.0.1</version>
  <description>DDS-XCRE agent implementation </description>
-  <maintainer email="javiermoreno@eprosima.com">Javier Moreno</maintainer>
+  <maintainer email="borjaouterelo@eprosima.com">Borja Outerelo</maintainer>
  <license>Apache License 2.0</license>
  <buildtool_depend>ament_cmake</buildtool_depend>
@@ -14,12 +14,17 @@
  <depend>fastcdr</depend>
  <depend>fastrtps</depend>
-  <depend>micrortps_agent</depend>
+  <depend>microxrcedds_agent_cmake_module</depend>
  <depend>rosidl_cmake</depend>
  <build_depend>rclcpp</build_depend>
  <exec_depend>rclcpp</exec_depend>
  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>
-  <member_of_group>rosidl_typesupport_c_packages</member_of_group>
+  <group_depend>rosidl_interface_packages</group_depend>
  <export>
    <build_type>ament_cmake</build_type>
@@ -0,0 +1,24 @@
    <participant profile_name="participant_profile">
        <rtps>
            <name>participant_profile</name>
        </rtps>
    </participant>
    <data_writer profile_name="shapetype_data_writer">
        <topic>
            <kind>WITH_KEY</kind>
            <name>Square</name>
            <dataType>ShapeType</dataType>
        </topic>
    </data_writer>
    <data_reader profile_name="shapetype_data_reader">
        <topic>
            <kind>WITH_KEY</kind>
            <name>Square</name>
            <dataType>ShapeType</dataType>
        </topic>
    </data_reader>
    <topic profile_name="shapetype_topic">
        <kind>WITH_KEY</kind>
        <name>Square</name>
        <dataType>ShapeType</dataType>
    </topic>
@@ -0,0 +1,29 @@
    <topic profile_name="parameter_events_t">
        <name>rt/parameter_events</name>
        <dataType>rcl_interfaces::msg::dds_::ParameterEvent_</dataType>
    </topic>
     <topic profile_name="clock_t">
        <name>rt/clock</name>
        <dataType>rosgraph_msgs::msg::dds_::Clock_</dataType>
    </topic>
    <data_writer profile_name="parameter_events_p">
        <topic>
            <kind>NO_KEY</kind>
            <name>rt/parameter_events</name>
            <dataType>rcl_interfaces::msg::dds_::ParameterEvent_</dataType>
        </topic>
    </data_writer>
    <data_reader profile_name="clock_s">
        <topic>
            <kind>NO_KEY</kind>
            <name>rt/clock</name>
            <dataType>rosgraph_msgs::msg::dds_::Clock_</dataType>
        </topic>
    </data_reader>
    <data_reader profile_name="parameter_events_s">
        <topic>
            <kind>NO_KEY</kind>
            <name>rt/parameter_events</name>
            <dataType>rcl_interfaces::msg::dds_::ParameterEvent_</dataType>
        </topic>
    </data_reader>
@@ -0,0 +1,237 @@
 // Copyright 2018 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.
 #ifdef _WIN32
 #include <uxr/agent/transport/udp/UDPServerWindows.hpp>
 #include <uxr/agent/transport/tcp/TCPServerWindows.hpp>
 #elif __unix__
 #include <unistd.h>
 #include <libgen.h>
 #include <uxr/agent/transport/serial/SerialServerLinux.hpp>
 #include <uxr/agent/transport/udp/UDPServerLinux.hpp>
 #include <uxr/agent/transport/tcp/TCPServerLinux.hpp>
 #include <termios.h>
 #include <fcntl.h>
 #endif
 #include <iterator>
 #include <iostream>
 #include <string>
 #include <limits>
 #include "rclcpp/rclcpp.hpp"
 void showHelp()
 {
    std::cout << "Usage: program <command>" << std::endl;
    std::cout << "List of commands:" << std::endl;
 #ifdef _WIN32
    std::cout << "    udp <local_port>" << std::endl;
    std::cout << "    tcp <local_port>" << std::endl;
 #else
    std::cout << "    serial <device_name>" << std::endl;
    std::cout << "    pseudo-serial" << std::endl;
    std::cout << "    udp <local_port> [<discovery_port>]" << std::endl;
    std::cout << "    tcp <local_port> [<discovery_port>]" << std::endl;
 #endif
 }
 void initializationError()
 {
    std::cout << "Error: Invalid arguments." << std::endl;
    showHelp();
    std::exit(EXIT_FAILURE);
 }
 uint16_t parsePort(const std::string& str_port)
 {
    uint16_t valid_port = 0;
    try
    {
        int port = std::stoi(str_port);
        if(port > (std::numeric_limits<uint16_t>::max)())
        {
            std::cout << "Error: port number '" << port << "out of range." << std::endl;
            initializationError();
        }
        valid_port = uint16_t(port);
    }
    catch (const std::invalid_argument& )
    {
        initializationError();
    }
    return valid_port;
 }
 int main(int argc, char** argv)
 {
    eprosima::uxr::Server* server = nullptr;
    std::vector<std::string> cl(0);
    if (1 == argc)
    {
        showHelp();
        std::cout << std::endl;
        std::cout << "Enter command: ";
        std::string raw_cl;
        std::getline(std::cin, raw_cl);
        std::istringstream iss(raw_cl);
        cl.insert(cl.begin(), std::istream_iterator<std::string>(iss), std::istream_iterator<std::string>());
        std::cout << raw_cl << std::endl;
    }
    else
    {
        for (int i = 1; i < argc; ++i)
        {
            cl.push_back(argv[i]);
        }
    }
    if((1 == cl.size()) && (("-h" == cl[0]) || ("--help" == cl[0])))
    {
        showHelp();
    }
    else if((2 <= cl.size()) && ("udp" == cl[0]))
    {
        std::cout << "UDP agent initialization... ";
        uint16_t port = parsePort(cl[1]);
 #ifdef _WIN32
        server = new eprosima::uxr::UDPServer(port);
 #else
        server = (3 == cl.size()) //discovery port
                 ? new eprosima::uxr::UDPServer(port, parsePort(cl[2]))
                 : new eprosima::uxr::UDPServer(port);
 #endif
    }
    else if((2 <= cl.size()) && ("tcp" == cl[0]))
    {
        std::cout << "TCP agent initialization... ";
        uint16_t port = parsePort(cl[1]);
 #ifdef _WIN32
        server = new eprosima::uxr::TCPServer(port);
 #else
        server = (3 == cl.size()) //discovery port
                 ? new eprosima::uxr::TCPServer(port, parsePort(cl[2]))
                 : new eprosima::uxr::TCPServer(port);
 #endif
    }
 #ifndef _WIN32
    else if((2 == cl.size()) && ("serial" == cl[0]))
    {
        std::cout << "Serial agent initialization... ";
        /* Open serial device. */
        int fd = open(cl[1].c_str(), O_RDWR | O_NOCTTY);
        if (0 < fd)
        {
            struct termios tty_config;
            memset(&tty_config, 0, sizeof(tty_config));
            if (0 == tcgetattr(fd, &tty_config))
            {
                /* Setting CONTROL OPTIONS. */
                tty_config.c_cflag |= CREAD;    // Enable read.
                tty_config.c_cflag |= CLOCAL;   // Set local mode.
                tty_config.c_cflag &= ~PARENB;  // Disable parity.
                tty_config.c_cflag &= ~CSTOPB;  // Set one stop bit.
                tty_config.c_cflag &= ~CSIZE;   // Mask the character size bits.
                tty_config.c_cflag |= CS8;      // Set 8 data bits.
                tty_config.c_cflag &= ~CRTSCTS; // Disable hardware flow control.
                /* Setting LOCAL OPTIONS. */
                tty_config.c_lflag &= ~ICANON;  // Set non-canonical input.
                tty_config.c_lflag &= ~ECHO;    // Disable echoing of input characters.
                tty_config.c_lflag &= ~ECHOE;   // Disable echoing the erase character.
                tty_config.c_lflag &= ~ISIG;    // Disable SIGINTR, SIGSUSP, SIGDSUSP and SIGQUIT signals.
                /* Setting INPUT OPTIONS. */
                tty_config.c_iflag &= ~IXON;    // Disable output software flow control.
                tty_config.c_iflag &= ~IXOFF;   // Disable input software flow control.
                tty_config.c_iflag &= ~INPCK;   // Disable parity check.
                tty_config.c_iflag &= ~ISTRIP;  // Disable strip parity bits.
                tty_config.c_iflag &= ~IGNBRK;  // No ignore break condition.
                tty_config.c_iflag &= ~IGNCR;   // No ignore carrier return.
                tty_config.c_iflag &= ~INLCR;   // No map NL to CR.
                tty_config.c_iflag &= ~ICRNL;   // No map CR to NL.
                /* Setting OUTPUT OPTIONS. */
                tty_config.c_oflag &= ~OPOST;   // Set raw output.
                /* Setting OUTPUT CHARACTERS. */
                tty_config.c_cc[VMIN] = 10;
                tty_config.c_cc[VTIME] = 1;
                /* Setting BAUD RATE. */
                cfsetispeed(&tty_config, B115200);
                cfsetospeed(&tty_config, B115200);
                if (0 == tcsetattr(fd, TCSANOW, &tty_config))
                {
                    server = new eprosima::uxr::SerialServer(fd, 0);
                }
            }
        }
    }
    else if ((1 == cl.size()) && ("pseudo-serial" == cl[0]))
    {
        std::cout << "Pseudo-Serial initialization... ";
        /* Open pseudo-terminal. */
        char* dev = NULL;
        int fd = posix_openpt(O_RDWR | O_NOCTTY);
        if (-1 != fd)
        {
            if (grantpt(fd) == 0 && unlockpt(fd) == 0 && (dev = ptsname(fd)))
            {
                struct termios attr;
                tcgetattr(fd, &attr);
                cfmakeraw(&attr);
                tcflush(fd, TCIOFLUSH);
                tcsetattr(fd, TCSANOW, &attr);
                std::cout << "Device: " << dev << std::endl;
            }
        }
        server = new eprosima::uxr::SerialServer(fd, 0x00);
    }
 #endif
    else
    {
        initializationError();
    }
    if (nullptr != server)
    {
        /* Launch server. */
        if (server->run())
        {
            std::cout << "OK" << std::endl;
            std::cin.clear();
            char exit_flag = 0;
            while ('q' != exit_flag)
            {
                std::cout << "Enter 'q' for exit" << std::endl;
                std::cin >> exit_flag;
            }
            server->stop();
        }
        else
        {
            std::cout << "ERROR" << std::endl;
        }
    }
    return 0;
 }
@@ -0,0 +1,7 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package microxrcedds_agent_cmake_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 0.0.1 (2019-04-24)
 ------------------
 * Initial release
@@ -0,0 +1,32 @@
 # Copyright 2018 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.
 cmake_minimum_required(VERSION 3.5)
 project(microxrcedds_agent_cmake_module)
 find_package(ament_cmake REQUIRED)
 if(BUILD_TESTING)
    find_package(ament_lint_auto REQUIRED)
    ament_lint_auto_find_test_dependencies()
 endif()
 ament_package(
    CONFIG_EXTRAS "microxrcedds_agent_cmake_module-extras.cmake"
 )
 install(DIRECTORY cmake
    DESTINATION share/${PROJECT_NAME}
 )
@@ -0,0 +1,124 @@
 # Copyright 2018 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.
 ###############################################################################
 #
 # CMake module for finding eProsima MICROXRCEDDS_AGENT.
 #
 # Output variables:
 #
 # - MicroXRCEDDS_Agent_FOUND: flag indicating if the package was found
 # - MicroXRCEDDS_Agent_INCLUDE_DIR: Paths to the header files
 #
 # Example usage:
 #
 #   find_package(uros_agent_cmake_module REQUIRED)
 #   find_package(MicroXRCEDDS_Agent MODULE)
 #   # use MicroXRCEDDS_Agent_* variables
 #
 ###############################################################################
 # lint_cmake: -convention/filename, -package/stdargs
 set(MicroXRCEDDS_Agent_FOUND FALSE)
 find_package(microxrcedds_agent REQUIRED CONFIG)
 find_package(fastcdr REQUIRED CONFIG)
 find_package(fastrtps REQUIRED CONFIG)
 find_path(MicroXRCEDDS_Agent_INCLUDE_DIR NAMES uxr)
 string(REGEX MATCH "^[0-9]+\\.[0-9]+" microxrcedds_agent_MAJOR_MINOR_VERSION "${microxrcedds_agent_VERSION}")
 string(REGEX MATCH "^[0-9]+\\.[0-9]+" fastcdr_MAJOR_MINOR_VERSION "${fastcdr_VERSION}")
 string(REGEX MATCH "^[0-9]+\\.[0-9]+" fastrtps_MAJOR_MINOR_VERSION "${fastrtps_VERSION}")
 ##
 find_library(MicroXRCEDDS_Agent_LIBRARY_RELEASE
  NAMES microxrcedds_agent-${microxrcedds_agent_MAJOR_MINOR_VERSION} microxrcedds_agent)
 find_library(MicroXRCEDDS_Agent_LIBRARY_DEBUG
  NAMES microxrcedds_agentd-${microxrcedds_agent_MAJOR_MINOR_VERSION} microxrcedds_agentd)
 if(MicroXRCEDDS_Agent_LIBRARY_RELEASE AND MicroXRCEDDS_Agent_LIBRARY_DEBUG)
    set(MicroXRCEDDS_Agent_LIBRARIES
        optimized ${MicroXRCEDDS_Agent_LIBRARY_RELEASE}
        debug ${MicroXRCEDDS_Agent_LIBRARY_DEBUG}
    )
 elseif(MicroXRCEDDS_Agent_LIBRARY_RELEASE)
    set(MicroXRCEDDS_Agent_LIBRARIES
        ${MicroXRCEDDS_Agent_LIBRARY_RELEASE}
    )
 elseif(MicroXRCEDDS_Agent_LIBRARY_DEBUG)
    set(MicroXRCEDDS_Agent_LIBRARIES
        ${MicroXRCEDDS_Agent_LIBRARY_DEBUG}
    )
 else()
    set(MicroXRCEDDS_Agent_LIBRARIES "")
 endif()
 ##
 find_library(FastRTPS_LIBRARY_RELEASE
  NAMES fastrtps-${fastrtps_MAJOR_MINOR_VERSION} fastrtps)
 find_library(FastRTPS_LIBRARY_DEBUG
  NAMES fastrtpsd-${fastrtps_MAJOR_MINOR_VERSION} fastrtpsd)
 if(FastRTPS_LIBRARY_RELEASE AND FastRTPS_LIBRARY_DEBUG)
    set(FastRTPS_LIBRARIES
        optimized ${FastRTPS_LIBRARY_RELEASE}
        debug ${FastRTPS_LIBRARY_DEBUG}
    )
 elseif(FastRTPS_LIBRARY_RELEASE)
    set(FastRTPS_LIBRARIES
        ${MicroXRCEDDS_Agent_LIBRARY_RELEASE}
    )
 elseif(FastRTPS_LIBRARY_DEBUG)
    set(FastRTPS_LIBRARIES
        ${MicroXRCEDDS_Agent_LIBRARY_DEBUG}
    )
 else()
    set(FastRTPS_LIBRARIES "")
 endif()
 ##
 find_library(FastCDR_LIBRARY_RELEASE
  NAMES fastcdr-${fastcdr_MAJOR_MINOR_VERSION} fastcdr)
 find_library(FastCDR_LIBRARY_DEBUG
  NAMES fastcdrd-${fastcdr_MAJOR_MINOR_VERSION} fastcdrd)
 if(FastCDR_LIBRARY_RELEASE AND FastCDR_LIBRARY_DEBUG)
    set(FastCDR_LIBRARIES
        optimized ${FastCDR_LIBRARY_RELEASE}
        debug ${FastCDR_LIBRARY_DEBUG}
    )
 elseif(FastCDR_LIBRARY_RELEASE)
    set(FastCDR_LIBRARIES
        ${FastCDR_LIBRARY_RELEASE}
    )
 elseif(FastCDR_LIBRARY_DEBUG)
    set(FastCDR_LIBRARIES
        ${FastCDR_LIBRARY_DEBUG}
    )
 else()
    set(FastCDR_LIBRARIES "")
 endif()
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(MicroXRCEDDS_Agent
        FOUND_VAR MicroXRCEDDS_Agent_FOUND
  REQUIRED_VARS
        MicroXRCEDDS_Agent_INCLUDE_DIR
        MicroXRCEDDS_Agent_LIBRARIES
 )
@@ -0,0 +1,16 @@
 # Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
 # You may obtain a copy of the License at
 #
 #     http://www.apache.org/licenses/LICENSE-2.0
 #
 # Unless required by applicable law or agreed to in writing, software
 # distributed under the License is distributed on an "AS IS" BASIS,
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
 list(INSERT CMAKE_MODULE_PATH 0
    "${microxrcedds_agent_cmake_module_DIR}/Modules")
@@ -0,0 +1,22 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
  <name>microxrcedds_agent_cmake_module</name>
  <version>0.0.1</version>
  <description>Provide CMake module to find eProsima Micro XRCE-DDS Agent</description>
  <maintainer email="borjaouterelo@eprosima.com">Borja Outerelo</maintainer>
  <license>Apache License 2.0</license>
  <author>Borja Outerelo</author>
  <buildtool_depend>ament_cmake</buildtool_depend>
  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>
  <build_depend>micro-xrce-dds-agent</build_depend>
  <build_export_depend>micro-xrce-dds-agent</build_export_depend>
  <export>
    <build_type>ament_cmake</build_type>
  </export>
 </package>
@@ -1,39 +0,0 @@
  <participant profile_name="participant_profile">
    <rtps>
      <builtin>
      <leaseDuration>
        <durationbyname>INFINITE</durationbyname>
      </leaseDuration>
        <domainId>0</domainId>
      </builtin>
      <name>DataReader_participant_subscriber</name>
    </rtps>
  </participant>
  <publisher profile_name="publisher_profile">
    <topic>
      <kind>WITH_KEY</kind>
      <name>Square</name>
      <dataType>ShapeType</dataType>
      <historyQos>
        <kind>KEEP_LAST</kind>
        <depth>5</depth>
      </historyQos>
      <durability>
        <kind>TRANSIENT_LOCAL</kind>
      </durability>
    </topic>
  </publisher>
  <subscriber profile_name="subscriber_profile">
    <topic>
      <kind>WITH_KEY</kind>
      <name>Square</name>
      <dataType>ShapeType</dataType>
      <historyQos>
        <kind>KEEP_LAST</kind>
        <depth>5</depth>
      </historyQos>
      <durability>
        <kind>TRANSIENT_LOCAL</kind>
      </durability>
    </topic>
  </subscriber>
Author	SHA1	Message	Date
Borja Outerelo	f7f4bf405e	Rename package. (#12 )	2019-04-24 18:23:13 +02:00
Borja Outerelo	1ef5e1b177	Update README.md	2019-04-24 16:09:52 +02:00
Borja Outerelo	5301589a90	Update micro-xrce-dds-agent package name.	2019-04-24 15:39:57 +02:00
Borja Outerelo	e3fa817083	Fix package file.	2019-04-24 08:46:25 +02:00
Borja Outerelo	93621c8d67	Merge pull request #11 from micro-ROS/develop Feature/pack (#10)	2019-04-24 08:32:40 +02:00
Borja Outerelo	6cdb2c2e5c	Feature/pack (#10 ) * Change name. * Add changelog.	2019-04-24 08:31:13 +02:00
Borja Outerelo	8c65e094f2	Merge pull request #8 from microROS/develop Update master	2018-11-30 10:30:39 +01:00
Borja Outerelo	b820033df7	Update README.md	2018-11-30 10:23:24 +01:00
Borja Outerelo	16ef5db11c	Create README.md	2018-11-30 10:22:28 +01:00
Borja Outerelo	9eaf57d2eb	Update README.md	2018-11-29 20:51:43 +01:00
Borja Outerelo	2dd00a29b6	Create LICENSE	2018-11-29 20:51:12 +01:00
Borja Outerelo	eb8f02b322	Merge branch 'master' into develop	2018-11-20 09:09:53 +01:00
Javier Moreno	d1c08622ce	Uncrustify lint format fix. (#7 )	2018-11-19 16:17:04 +01:00
Borja Outerelo	8cb1bfe91a	v0.0.1-alpha (#6 ) * Issue with windows paths solved. * Fixed issue when --merge-install is activated (Windows issue) * Updated to last version of Micoxrcedds Agent. (#3) * Restored removed code by accident (#4) * Refs #3842. Removes agent node.	2018-11-17 22:06:58 +01:00
Javier Moreno	162117d9a2	Merge pull request #5 from microROS/feature/agentnode Refs #3842. Removes agent node.	2018-11-17 13:05:01 +01:00
Borja Outerelo	efaf219a63	Refs #3842 . Removes agent node.	2018-11-16 10:34:08 +01:00
Javier Moreno	4a3a8a3b52	Restored removed code by accident (#4 )	2018-11-15 16:23:35 +01:00
Javier Moreno	53555aa991	Updated to last version of Micoxrcedds Agent. (#3 )	2018-11-15 15:00:37 +01:00
Borja Outerelo	735babba37	Merge pull request #2 from microROS/feature/WindowsFix Feature/windows fix	2018-11-15 14:39:06 +01:00
Javier Moreno	9b615a4174	Fixed issue when --merge-install is activated (Windows issue)	2018-11-14 13:17:15 +01:00
Javier Moreno	70757b4144	Issue with windows paths solved.	2018-11-14 00:01:02 +01:00
Borja Outerelo	6b093d8417	Merge pull request #1 from microROS/develop Develop	2018-11-06 17:58:02 +01:00
Javier Moreno	27203c273e	XML fix	2018-11-02 11:57:07 +01:00
Javier JM. Moreno	b483e7e007	Feature/u ros agent node	2018-10-31 15:49:30 +01:00
Javier JM. Moreno	d66fa96f30	Refs #3552 - Adapt to new XML profiles	2018-10-31 15:09:09 +01:00
Javier Moreno	bb1fe9561c	Refs #3561 - Generate uROS_Agent module	2018-10-19 10:45:56 +02:00
Borja Outerelo	45c4a698c3	Refs #3486 . Adds some wording improvements.	2018-10-19 10:14:12 +02:00
Javier Moreno	c5cc980824	logo size ajusted.	2018-10-16 15:04:02 +02:00
Javier Moreno	fa6e94898b	Review needed. Links are missing until migration to external networks.	2018-10-16 15:04:02 +02:00
Javier Moreno	e8621a76e6	Refs #3486 - Create Readme.md for uROS agent	2018-10-16 15:04:02 +02:00
Borja Outerelo	a77c0f7547	Refs #3499 . Uses new middleware name, Micro XRCE-DDS.	2018-10-16 11:48:51 +02:00
Javier Moreno	ffc3c372be	Refs #3459 .	2018-10-04 09:14:22 +02:00
Borja Outerelo	1d106a8945	Merge branch 'developJ' into 'develop' Develop j See merge request eProsima/micro-ros-agent!1	2018-10-02 11:56:17 +02:00