Update CMakeLists.txt (#247) (#263)

(cherry picked from commit 52abdf5a98)

Co-authored-by: Rafal Gorecki <126687345+rafal-gorecki@users.noreply.github.com>

.github/ISSUE_TEMPLATE/general-issue.md

@@ -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: foxy, rolling  -->
+- Version or commit hash: <!-- version of micro-ROS used: humble, jazzy, kilted, rolling  -->
 
 #### Steps to reproduce the issue
 <!-- Detailed instructions on how to reliably reproduce this issue http://sscce.org/-->

.github/workflows/ci.yml

@@ -3,36 +3,35 @@ name: CI micro-ROS Agent
 on:
     pull_request:
       branches:
-        - '**'
+        - 'kilted'
+    schedule:
+      - cron: '33 6 * * *'
 
 jobs:
 
     microros_agent_ci:
-        runs-on: ubuntu-20.04
-        container: microros/base:foxy
-
+      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@v2
+      - uses: actions/checkout@v4
+      - uses: ros-tooling/setup-ros@0.7.13
         with:
-            path: urosagent
-
-        - name: Download dependencies
+          use-ros2-testing: false
+          required-ros-distributions: ${{ matrix.ros_distribution }}
+      - name : Download and install dependencies
         run: |
-            apt update
-            cd /uros_ws
-            . /opt/ros/$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/$ROS_DISTRO/setup.sh
-            . install/local_setup.sh
-            ros2 run micro_ros_setup build_agent.sh 
+          apt-get install ros-${{ 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 }}

README.md

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

micro_ros_agent/CHANGELOG.rst

@@ -2,6 +2,68 @@
 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

micro_ros_agent/CMakeLists.txt

@@ -12,21 +12,29 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.11)
 
 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()
 
 find_package(ament_cmake REQUIRED)
 find_package(microxrcedds_agent REQUIRED)
 find_package(rosidl_cmake REQUIRED)
 find_package(fastcdr REQUIRED)
-find_package(fastrtps REQUIRED)
-find_package(fastrtps_cmake_module REQUIRED)
+find_package(fastdds REQUIRED)
 find_package(rmw_dds_common REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rcutils REQUIRED)
@@ -54,22 +62,21 @@ target_include_directories(${PROJECT_NAME}
     include
   )
 
-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}
+  ${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
   )
 
 target_link_libraries(${PROJECT_NAME}
   microxrcedds_agent
   fastcdr
-  fastrtps
+  fastdds
   $<$<BOOL:$<PLATFORM_ID:Linux>>:rt>
   $<$<BOOL:$<PLATFORM_ID:Linux>>:dl>
   )

micro_ros_agent/cmake/SuperBuild.cmake

@@ -0,0 +1,68 @@
+# 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
+    )

micro_ros_agent/include/agent/Agent.hpp

@@ -20,6 +20,10 @@
 #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 {

micro_ros_agent/include/agent/graph_manager/graph_manager.hpp

@@ -12,28 +12,28 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#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>
+#ifndef _UROS_AGENT_GRAPH_MANAGER_HPP
+#define _UROS_AGENT_GRAPH_MANAGER_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 <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/qos/DataWriterQos.hpp>
 #include <fastdds/dds/publisher/Publisher.hpp>
+#include <fastdds/dds/publisher/PublisherListener.hpp>
+#include <fastdds/dds/publisher/qos/DataWriterQos.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/dds/subscriber/DataReaderListener.hpp>
+#include <fastdds/rtps/common/MatchingInfo.hpp>
 
 #include "rmw/types.h"
 #include "rmw/names_and_types.h"
@@ -58,8 +58,11 @@
 #include <agent/graph_manager/graph_typesupport.hpp>
 #include <agent/utils/demangle.hpp>
 
-#ifndef _UROS_AGENT_GRAPH_MANAGER_HPP
-#define _UROS_AGENT_GRAPH_MANAGER_HPP
+#include <condition_variable>
+#include <string>
+#include <memory>
+#include <map>
+#include <thread>
 
 namespace uros {
 namespace agent {
@@ -89,28 +92,28 @@ 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   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.
@@ -119,7 +122,7 @@ public:
      * @param   datawriter Pointer to the datawriter to be added.
      */
     void add_datawriter(
-            const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
+            const eprosima::fastdds::rtps::GUID_t& datawriter_guid,
             const eprosima::fastdds::dds::DomainParticipant* participant,
             const eprosima::fastdds::dds::DataWriter* datawriter);
 
@@ -132,33 +135,18 @@ public:
      * @param   writer_qos QOS of the datawriter to be included into the graph tree.
      */
     void add_datawriter(
-            const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
+            const eprosima::fastdds::rtps::GUID_t& datawriter_guid,
             const std::string& topic_name,
             const std::string& type_name,
-            const eprosima::fastrtps::rtps::GUID_t& participant_guid,
+            const eprosima::fastdds::rtps::GUID_t& participant_guid,
             const eprosima::fastdds::dds::DataWriterQos& writer_qos);
 
-    /**
-     * @brief   Adds a DDS datawriter to the graph tree.
-     * @param   datawriter_guid rtps::GUID_t of the datawriter to be added.
-     * @param   topic_name Name of the topic to which the datawriter sends information to.
-     * @param   type_name Type name of the sent topic.
-     * @param   participant_guid rtps::GUID_t of the participant which owns this datawriter.
-     * @param   writer_qos QOS of the datawriter to be included into the graph tree.
-     */
-    void add_datawriter(
-            const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
-            const std::string& topic_name,
-            const std::string& type_name,
-            const eprosima::fastrtps::rtps::GUID_t& participant_guid,
-            const eprosima::fastdds::dds::WriterQos& writer_qos);
-
     /**
      * @brief   Removes a DDS datawriter from the graph tree.
      * @param   datawriter_guid rtps::GUID_t of the datawriter to be removed.
      */
     void remove_datawriter(
-            const eprosima::fastrtps::rtps::GUID_t& datawriter_guid);
+            const eprosima::fastdds::rtps::GUID_t& datawriter_guid);
 
     /**
      * @brief   Adds a DDS datareader to the graph tree.
@@ -167,7 +155,7 @@ public:
      * @param   datareader Pointer to the datareader to be added.
      */
     void add_datareader(
-            const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
+            const eprosima::fastdds::rtps::GUID_t& datareader_guid,
             const eprosima::fastdds::dds::DomainParticipant* participant,
             const eprosima::fastdds::dds::DataReader* datareader);
 
@@ -177,36 +165,21 @@ 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   writer_qos QOS of the datareader to be included into the graph tree.
+     * @param   reader_qos QOS of the datareader to be included into the graph tree.
      */
     void add_datareader(
-            const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
+            const eprosima::fastdds::rtps::GUID_t& datareader_guid,
             const std::string& topic_name,
             const std::string& type_name,
-            const eprosima::fastrtps::rtps::GUID_t& participant_guid,
+            const eprosima::fastdds::rtps::GUID_t& participant_guid,
             const eprosima::fastdds::dds::DataReaderQos& reader_qos);
 
-    /**
-     * @brief   Adds a DDS datareader to the graph tree.
-     * @param   datareader_guid rtps::GUID_t of the datareader to be added.
-     * @param   topic_name Name of the topic to which the datareader sends information to.
-     * @param   type_name Type name of the sent topic.
-     * @param   participant_guid rtps::GUID_t of the participant which owns this datareader.
-     * @param   writer_qos QOS of the datareader to be included into the graph tree.
-     */
-    void add_datareader(
-            const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
-            const std::string& topic_name,
-            const std::string& type_name,
-            const eprosima::fastrtps::rtps::GUID_t& participant_guid,
-            const eprosima::fastdds::dds::ReaderQos& reader_qos);
-
     /**
      * @brief   Removes a DDS datareader from the graph tree.
      * @param   datareader_guid rtps::GUID_t of the datareader to be removed.
      */
     void remove_datareader(
-            const  eprosima::fastrtps::rtps::GUID_t& datareader_guid);
+            const  eprosima::fastdds::rtps::GUID_t& datareader_guid);
 
     /**
      * @brief   Associates a certain DDS entity with a provided participant.
@@ -215,7 +188,7 @@ public:
      * @param   entity_kind Kind of the DDS entity.
      */
     void associate_entity(
-            const eprosima::fastrtps::rtps::GUID_t& entity_guid,
+            const eprosima::fastdds::rtps::GUID_t& entity_guid,
             const eprosima::fastdds::dds::DomainParticipant* participant,
             const dds::xrce::ObjectKind& entity_kind);
 
@@ -236,21 +209,28 @@ private:
                 GraphManager* graph_manager);
     private:
 
-        template <typename Info>
+        template <typename DiscoveryStatus, typename Info>
         void process_discovery_info(
+                DiscoveryStatus reason,
                 const Info& proxyData);
 
         void on_participant_discovery(
                 eprosima::fastdds::dds::DomainParticipant* participant,
-                eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info) override;
+                eprosima::fastdds::rtps::ParticipantDiscoveryStatus reason,
+                const eprosima::fastdds::dds::ParticipantBuiltinTopicData& info,
+                bool& should_be_ignored) override;
 
-        void on_subscriber_discovery(
-                eprosima::fastdds::dds::DomainParticipant* /*participant*/,
-                eprosima::fastrtps::rtps::ReaderDiscoveryInfo&& 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_publisher_discovery(
-                eprosima::fastdds::dds::DomainParticipant* /*participant*/,
-                eprosima::fastrtps::rtps::WriterDiscoveryInfo&& 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;
 
         GraphManager* graphManager_from_;
     };
@@ -292,14 +272,27 @@ 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 +304,14 @@ 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*,
+        eprosima::fastdds::dds::DataWriter*
+    > micro_ros_graph_datawriters_;
 };
 
 }  // namespace graph_manager

micro_ros_agent/include/agent/graph_manager/graph_typesupport.hpp

@@ -15,18 +15,16 @@
 #ifndef UROS_AGENT_GRAPH_PARTICIPANTS_TYPESUPPORT_HPP_
 #define UROS_AGENT_GRAPH_PARTICIPANTS_TYPESUPPORT_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/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 <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"
@@ -59,24 +57,31 @@ public:
     ParticipantEntitiesInfoTypeSupport();
 
     virtual bool serialize(
-            void* data,
-            eprosima::fastrtps::rtps::SerializedPayload_t* payload) override;
+            const void* const data,
+            eprosima::fastdds::rtps::SerializedPayload_t& payload,
+            eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
     virtual bool deserialize(
-            eprosima::fastrtps::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::SerializedPayload_t& payload,
             void* data) override;
 
-    virtual std::function<uint32_t()> getSerializedSizeProvider(
-            void* data) override;
+    virtual uint32_t calculate_serialized_size(
+            const void* const data,
+            eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    virtual void* createData() override;
+    virtual void* create_data() override;
 
-    virtual void deleteData(void* data) override;
+    virtual void delete_data(void* data) override;
 
-    virtual bool getKey(
-            void* data,
-            eprosima::fastrtps::rtps::InstanceHandle_t* handle,
-            bool force_md5) 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;
 
 private:
 
@@ -95,24 +100,31 @@ public:
     MicrorosGraphInfoTypeSupport();
 
     virtual bool serialize(
-            void* data,
-            eprosima::fastrtps::rtps::SerializedPayload_t* payload) override;
+            const void* const data,
+            eprosima::fastdds::rtps::SerializedPayload_t& payload,
+            eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
     virtual bool deserialize(
-            eprosima::fastrtps::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::SerializedPayload_t& payload,
             void* data) override;
 
-    virtual std::function<uint32_t()> getSerializedSizeProvider(
-            void* data) override;
+    virtual uint32_t calculate_serialized_size(
+            const void* const data,
+            eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    virtual void* createData() override;
+    virtual void* create_data() override;
 
-    virtual void deleteData(void* data) override;
+    virtual void delete_data(void* data) override;
 
-    virtual bool getKey(
-            void* data,
-            eprosima::fastrtps::rtps::InstanceHandle_t* handle,
-            bool force_md5) 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;
 
 private:
 

micro_ros_agent/launch/micro_ros_agent_launch.py

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

micro_ros_agent/package.xml

@@ -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>6.1.0</version>
+  <description>micro-ROS Agent package</description>
+  <maintainer email="eugeniocollado@eprosima.com">Eugenio Collado</maintainer>
+  <maintainer email="carlosespinoza@eprosima.com">Carlos Espinoza</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>

micro_ros_agent/src/agent/Agent.cpp

@@ -17,6 +17,9 @@
 
 #include <agent/Agent.hpp>
 
+#include <utility>
+#include <memory>
+
 namespace uros {
 namespace agent {
 
@@ -40,12 +43,7 @@ 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 +59,8 @@ 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,
@@ -84,20 +77,11 @@ 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 =
-                    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_->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,
@@ -115,18 +99,9 @@ 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 =
-                    datawriter->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
-                graph_manager_->remove_datawriter(datawriter_guid);
+                graph_manager_->remove_datawriter(datawriter->guid());
             });
 
         xrce_dds_agent_instance_.add_middleware_callback(
@@ -144,17 +119,13 @@ 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 =
+                const eprosima::fastdds::rtps::InstanceHandle_t instance_handle =
                     datareader->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(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);
@@ -174,17 +145,13 @@ 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 =
+                const eprosima::fastdds::rtps::InstanceHandle_t instance_handle =
                     datareader->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
+                const eprosima::fastdds::rtps::GUID_t datareader_guid =
+                    eprosima::fastdds::rtps::iHandle2GUID(instance_handle);
                 graph_manager_->remove_datareader(datareader_guid);
             });
 
@@ -192,6 +159,128 @@ 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;
@@ -204,16 +293,14 @@ 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);
 
     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)
             )

micro_ros_agent/src/agent/graph_manager/graph_manager.cpp

@@ -16,17 +16,23 @@
 #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 {
 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 +43,27 @@ 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;
+        eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
     participant_qos.wire_protocol().builtin.writerHistoryMemoryPolicy =
-        eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+        eprosima::fastdds::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 +87,26 @@ 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 =
-        eprosima::fastrtps::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
-    datawriter_qos.publish_mode().kind =
+    datawriter_qos_.history().depth = 1;
+    datawriter_qos_.endpoint().history_memory_policy =
+        eprosima::fastdds::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+    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::HistoryQosPolicyKind::KEEP_ALL_HISTORY_QOS;
+    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(), datawriter_qos));
+        publisher_->create_datawriter(ros_to_microros_graph_topic_.get(), ros_to_microros_datawriter_qos_));
 
     // Create datareaders
 
@@ -108,7 +116,7 @@ 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::fastrtps::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+        eprosima::fastdds::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
     datareader_qos.reliability().kind =
         eprosima::fastdds::dds::ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
     datareader_qos.durability().kind =
@@ -120,9 +128,11 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
 
     // Set graph cache on change callback function
     graphCache_.set_on_change_callback([this]()
+    {
         {
             std::unique_lock<std::mutex> lock(this->mtx_);
             this->graph_changed_ = true;
+        }
         this->cv_.notify_one();
     });
 
@@ -139,6 +149,7 @@ inline void GraphManager::publish_microros_graph()
             {
                 return this->graph_changed_;
             });
+            graph_changed_ = false;
         }
 
         if (display_on_change_)
@@ -146,7 +157,6 @@ 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;
 
@@ -292,38 +302,59 @@ 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
+            eprosima::fastdds::dds::DataWriter * datawriter = publisher_->create_datawriter(ros_discovery_topic_.get(), datawriter_qos_);
+
+            it = micro_ros_graph_datawriters_.insert(
+                std::make_pair(participant, 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));
+        publisher_->delete_datawriter(it->second);
+        micro_ros_graph_datawriters_.erase(participant);
+    }
 }
 
 void GraphManager::add_datawriter(
-        const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
+        const eprosima::fastdds::rtps::GUID_t& datawriter_guid,
         const eprosima::fastdds::dds::DomainParticipant* participant,
         const eprosima::fastdds::dds::DataWriter* datawriter)
 {
@@ -334,10 +365,10 @@ void GraphManager::add_datawriter(
 }
 
 void GraphManager::add_datawriter(
-        const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
+        const eprosima::fastdds::rtps::GUID_t& datawriter_guid,
         const std::string& topic_name,
         const std::string& type_name,
-        const eprosima::fastrtps::rtps::GUID_t& participant_guid,
+        const eprosima::fastdds::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(
@@ -346,30 +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, participant_gid, qos_profile, false);
-}
-
-void GraphManager::add_datawriter(
-        const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
-        const std::string& topic_name,
-        const std::string& type_name,
-        const eprosima::fastrtps::rtps::GUID_t& participant_guid,
-        const eprosima::fastdds::dds::WriterQos& writer_qos)
-{
-    const rmw_gid_t datawriter_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
-        "rmw_fastrtps_cpp", datawriter_guid);
-    const rmw_gid_t participant_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
-        "rmw_fastrtps_cpp", participant_guid);
-    rmw_qos_profile_t qos_profile = rmw_qos_profile_unknown;
-    dds_qos_to_rmw_qos(writer_qos, &qos_profile);
-
-    graphCache_.add_entity(datawriter_gid, topic_name,
-        type_name, participant_gid, qos_profile, false);
+    graphCache_.add_entity(datawriter_gid, topic_name, type_name,
+        rosidl_get_zero_initialized_type_hash(), participant_gid, qos_profile, false);
 }
 
 void GraphManager::remove_datawriter(
-        const eprosima::fastrtps::rtps::GUID_t& datawriter_guid)
+        const eprosima::fastdds::rtps::GUID_t& datawriter_guid)
 {
     const rmw_gid_t datawriter_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
         "rmw_fastrtps_cpp", datawriter_guid);
@@ -378,7 +391,7 @@ void GraphManager::remove_datawriter(
 }
 
 void GraphManager::add_datareader(
-        const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
+        const eprosima::fastdds::rtps::GUID_t& datareader_guid,
         const eprosima::fastdds::dds::DomainParticipant* participant,
         const eprosima::fastdds::dds::DataReader* datareader)
 {
@@ -389,10 +402,10 @@ void GraphManager::add_datareader(
 }
 
 void GraphManager::add_datareader(
-        const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
+        const eprosima::fastdds::rtps::GUID_t& datareader_guid,
         const std::string& topic_name,
         const std::string& type_name,
-        const eprosima::fastrtps::rtps::GUID_t& participant_guid,
+        const eprosima::fastdds::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(
@@ -401,30 +414,17 @@ void GraphManager::add_datareader(
         "rmw_fastrtps_cpp", participant_guid);
     const rmw_qos_profile_t qos_profile = fastdds_qos_to_rmw_qos(reader_qos);
 
-    graphCache_.add_entity(datareader_gid, topic_name,
-        type_name, participant_gid, qos_profile, true);
-}
-
-void GraphManager::add_datareader(
-        const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
-        const std::string& topic_name,
-        const std::string& type_name,
-        const eprosima::fastrtps::rtps::GUID_t& participant_guid,
-        const eprosima::fastdds::dds::ReaderQos& reader_qos)
-{
-    const rmw_gid_t datareader_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
-        "rmw_fastrtps_cpp", datareader_guid);
-    const rmw_gid_t participant_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
-        "rmw_fastrtps_cpp", participant_guid);
-    rmw_qos_profile_t qos_profile = rmw_qos_profile_unknown;
-    dds_qos_to_rmw_qos(reader_qos, &qos_profile);
-
-    graphCache_.add_entity(datareader_gid, topic_name,
-        type_name, participant_gid, qos_profile, true);
+    // 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);
 }
 
 void GraphManager::remove_datareader(
-        const eprosima::fastrtps::rtps::GUID_t& datareader_guid)
+        const eprosima::fastdds::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 +433,7 @@ void GraphManager::remove_datareader(
 }
 
 void GraphManager::associate_entity(
-        const eprosima::fastrtps::rtps::GUID_t& entity_guid,
+        const eprosima::fastdds::rtps::GUID_t& entity_guid,
         const eprosima::fastdds::dds::DomainParticipant* participant,
         const dds::xrce::ObjectKind& entity_kind)
 {
@@ -449,14 +449,18 @@ 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 +468,9 @@ 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));
 }
 
 
@@ -547,15 +553,52 @@ 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::fastrtps::types::ReturnCode_t::RETCODE_OK)
+        eprosima::fastdds::dds::RETCODE_OK)
     {
-        if (sample_info.instance_state == eprosima::fastdds::dds::InstanceStateKind::ALIVE)
+        if (sample_info.instance_state == eprosima::fastdds::dds::InstanceStateKind::ALIVE_INSTANCE_STATE)
         {
             graphCache_.update_participant_entities(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()
@@ -565,13 +608,18 @@ GraphManager::ParticipantListener::ParticipantListener(
 
 void GraphManager::ParticipantListener::on_participant_discovery(
         eprosima::fastdds::dds::DomainParticipant* participant,
-        eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info)
+        eprosima::fastdds::rtps::ParticipantDiscoveryStatus reason,
+        const eprosima::fastdds::dds::ParticipantBuiltinTopicData& info,
+        bool& should_be_ignored)
 {
-    switch (info.status)
+    static_cast<void>(participant);
+    static_cast<void>(should_be_ignored);
+
+    switch (reason)
     {
-        case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DISCOVERED_PARTICIPANT:
+        case eprosima::fastdds::rtps::ParticipantDiscoveryStatus::DISCOVERED_PARTICIPANT:
         {
-            auto map = rmw::impl::cpp::parse_key_value(info.info.m_userData);
+            auto map = rmw::impl::cpp::parse_key_value(info.user_data);
             auto name_found = map.find("enclave");
 
             if (map.end() == name_found)
@@ -581,13 +629,15 @@ 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);
+            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);
             break;
         }
-        case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT:
-        case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DROPPED_PARTICIPANT:
+        case eprosima::fastdds::rtps::ParticipantDiscoveryStatus::REMOVED_PARTICIPANT:
+        case eprosima::fastdds::rtps::ParticipantDiscoveryStatus::DROPPED_PARTICIPANT:
         {
-            graphManager_from_->remove_participant(info.info.m_guid);
+            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);
             break;
         }
         default:
@@ -597,74 +647,134 @@ void GraphManager::ParticipantListener::on_participant_discovery(
     }
 }
 
+static eprosima::fastdds::dds::DataWriterQos writer_qos_conversion(
+    const eprosima::fastdds::dds::PublicationBuiltinTopicData& writer_info)
+{
+    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);
+
+    return datawriter_qos;
+}
+
+static eprosima::fastdds::dds::DataReaderQos reader_qos_conversion(
+    const eprosima::fastdds::rtps::SubscriptionBuiltinTopicData& reader_info)
+{
+    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);
+
+    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)
+{
+    switch (reason)
+    {
+        case eprosima::fastdds::rtps::ReaderDiscoveryStatus::CHANGED_QOS_READER:
+        {
+            return;
+        }
+        case eprosima::fastdds::rtps::ReaderDiscoveryStatus::DISCOVERED_READER:
+        {
+            const std::string topic_name = reader_info.topic_name.to_string();
+            const std::string type_name = reader_info.type_name.to_string();
+
+            graphManager_from_->add_datareader(reader_info.guid, topic_name, type_name,
+                reader_info.participant_guid, reader_qos_conversion(reader_info));
+            break;
+        }
+        default:
+        {
+            graphManager_from_->remove_datareader(reader_info.guid);
+            break;
+        }
+    }
+}
+
 template <>
-void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtps::rtps::ReaderDiscoveryInfo>(
-        const eprosima::fastrtps::rtps::ReaderDiscoveryInfo& reader_info)
+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)
 {
-    switch (reader_info.status)
+    switch (reason)
     {
-        case eprosima::fastrtps::rtps::ReaderDiscoveryInfo::CHANGED_QOS_READER:
+        case eprosima::fastdds::rtps::WriterDiscoveryStatus::CHANGED_QOS_WRITER:
         {
             return;
         }
-        case eprosima::fastrtps::rtps::ReaderDiscoveryInfo::DISCOVERED_READER:
+        case eprosima::fastdds::rtps::WriterDiscoveryStatus::DISCOVERED_WRITER:
         {
-            const std::string topic_name = reader_info.info.topicName().to_string();
-            const std::string type_name = reader_info.info.typeName().to_string();
+            const std::string topic_name = writer_info.topic_name.to_string();
+            const std::string type_name = writer_info.type_name.to_string();
 
-            graphManager_from_->add_datareader(reader_info.info.guid(), topic_name, type_name,
-                iHandle2GUID(reader_info.info.RTPSParticipantKey()), reader_info.info.m_qos);
+            graphManager_from_->add_datawriter(writer_info.guid, topic_name, type_name,
+                writer_info.participant_guid, writer_qos_conversion(writer_info));
             break;
         }
         default:
         {
-            graphManager_from_->remove_datareader(reader_info.info.guid());
+            graphManager_from_->remove_datawriter(writer_info.guid);
             break;
         }
     }
 }
 
-template <>
-void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtps::rtps::WriterDiscoveryInfo>(
-        const eprosima::fastrtps::rtps::WriterDiscoveryInfo& writer_info)
+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)
 {
-    switch (writer_info.status)
-    {
-        case eprosima::fastrtps::rtps::WriterDiscoveryInfo::CHANGED_QOS_WRITER:
-        {
-            return;
-        }
-        case eprosima::fastrtps::rtps::WriterDiscoveryInfo::DISCOVERED_WRITER:
-        {
-            const std::string topic_name = writer_info.info.topicName().to_string();
-            const std::string type_name = writer_info.info.typeName().to_string();
+    static_cast<void>(participant);
+    static_cast<void>(should_be_ignored);
 
-            graphManager_from_->add_datawriter(writer_info.info.guid(), topic_name, type_name,
-                iHandle2GUID(writer_info.info.RTPSParticipantKey()), writer_info.info.m_qos);
-            break;
-        }
-        default:
-        {
-            graphManager_from_->remove_datawriter(writer_info.info.guid());
-            break;
-        }
-    }
+    process_discovery_info<eprosima::fastdds::rtps::ReaderDiscoveryStatus, eprosima::fastdds::rtps::SubscriptionBuiltinTopicData>(reason, info);
 }
 
-void GraphManager::ParticipantListener::on_subscriber_discovery(
-        eprosima::fastdds::dds::DomainParticipant* /*participant*/,
-        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)
 {
-    process_discovery_info<eprosima::fastrtps::rtps::ReaderDiscoveryInfo>(info);
-    // graphManager_from_->associate_entity(info.info.guid(), participant, dds::xrce::OBJK_DATAREADER);
-}
+    static_cast<void>(participant);
+    static_cast<void>(should_be_ignored);
 
-void GraphManager::ParticipantListener::on_publisher_discovery(
-        eprosima::fastdds::dds::DomainParticipant* /*participant*/,
-        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);
+    process_discovery_info<eprosima::fastdds::rtps::WriterDiscoveryStatus, eprosima::fastdds::rtps::PublicationBuiltinTopicData>(reason, info);
 }
 
 GraphManager::DatareaderListener::DatareaderListener(

micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp

@@ -17,6 +17,8 @@
 
 #include <agent/graph_manager/graph_typesupport.hpp>
 
+#include <string>
+
 namespace uros {
 namespace agent {
 namespace graph_manager {
@@ -39,27 +41,30 @@ ParticipantEntitiesInfoTypeSupport::ParticipantEntitiesInfoTypeSupport()
         ss << message_namespace << "::";
     }
     ss << "dds_::" << message_name << "_";
-    this->setName(ss.str().c_str());
+    this->set_name(ss.str().c_str());
 
-    bool full_bounded = true;
-    m_typeSize = 4 + callbacks_->max_serialized_size(full_bounded);
+    char full_bounded;
+    max_serialized_type_size = 4 + callbacks_->max_serialized_size(full_bounded);
 }
 
 bool ParticipantEntitiesInfoTypeSupport::serialize(
-        void * data,
-        eprosima::fastrtps::rtps::SerializedPayload_t * payload)
+        const void* const data,
+        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+        eprosima::fastdds::dds::DataRepresentationId_t data_representation)
 {
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
-        payload->max_size);
+    static_cast<void>(data_representation);
+
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload.data),
+        payload.max_size);
     eprosima::fastcdr::Cdr scdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-        eprosima::fastcdr::Cdr::DDS_CDR);
+        eprosima::fastcdr::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.getSerializedDataLength());
+        payload.length = static_cast<uint32_t>(scdr.get_serialized_data_length());
         return true;
     }
     else
@@ -69,47 +74,58 @@ bool ParticipantEntitiesInfoTypeSupport::serialize(
 }
 
 bool ParticipantEntitiesInfoTypeSupport::deserialize(
-        eprosima::fastrtps::rtps::SerializedPayload_t * payload,
+        eprosima::fastdds::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::Cdr::DDS_CDR);
+        eprosima::fastcdr::DDS_CDR);
 
     dcdr.read_encapsulation();
     return callbacks_->cdr_deserialize(dcdr, data);
 }
 
-std::function<uint32_t()> ParticipantEntitiesInfoTypeSupport::getSerializedSizeProvider(
-        void * data)
-{
-    return [data, this]() -> uint32_t
+uint32_t ParticipantEntitiesInfoTypeSupport::calculate_serialized_size(
+            const void* const data,
+            eprosima::fastdds::dds::DataRepresentationId_t data_representation)
 {
+    static_cast<void>(data_representation);
+
     return static_cast<uint32_t>(4 + callbacks_->get_serialized_size(data));
-    };
 }
 
-void * ParticipantEntitiesInfoTypeSupport::createData()
+void * ParticipantEntitiesInfoTypeSupport::create_data()
 {
     return static_cast<void *>(nullptr);
 }
 
-void ParticipantEntitiesInfoTypeSupport::deleteData(
+void ParticipantEntitiesInfoTypeSupport::delete_data(
         void * data)
 {
     (void) data;
 }
 
-bool ParticipantEntitiesInfoTypeSupport::getKey(
-        void * data,
-        eprosima::fastrtps::rtps::InstanceHandle_t * handle,
-        bool force_md5)
+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 */)
 {
     (void) data;
     (void) handle;
     (void) force_md5;
-    return m_isGetKeyDefined;
+    return is_compute_key_provided;
 }
 
 
@@ -131,27 +147,30 @@ MicrorosGraphInfoTypeSupport::MicrorosGraphInfoTypeSupport()
         ss << message_namespace << "::";
     }
     ss << "dds_::" << message_name << "_";
-    this->setName(ss.str().c_str());
+    this->set_name(ss.str().c_str());
 
-    bool full_bounded = true;
-    m_typeSize = 4 + callbacks_->max_serialized_size(full_bounded);
+    char full_bounded;
+    max_serialized_type_size = 4 + callbacks_->max_serialized_size(full_bounded);
 }
 
 bool MicrorosGraphInfoTypeSupport::serialize(
-        void * data,
-        eprosima::fastrtps::rtps::SerializedPayload_t * payload)
+        const void* const data,
+        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+        eprosima::fastdds::dds::DataRepresentationId_t data_representation)
 {
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
-        payload->max_size);
+    static_cast<void>(data_representation);
+
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload.data),
+        payload.max_size);
     eprosima::fastcdr::Cdr scdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-        eprosima::fastcdr::Cdr::DDS_CDR);
+        eprosima::fastcdr::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.getSerializedDataLength());
+        payload.length = static_cast<uint32_t>(scdr.get_serialized_data_length());
         return true;
     }
     else
@@ -161,47 +180,58 @@ bool MicrorosGraphInfoTypeSupport::serialize(
 }
 
 bool MicrorosGraphInfoTypeSupport::deserialize(
-        eprosima::fastrtps::rtps::SerializedPayload_t * payload,
+        eprosima::fastdds::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::Cdr::DDS_CDR);
+        eprosima::fastcdr::DDS_CDR);
 
     dcdr.read_encapsulation();
     return callbacks_->cdr_deserialize(dcdr, data);
 }
 
-std::function<uint32_t()> MicrorosGraphInfoTypeSupport::getSerializedSizeProvider(
-        void * data)
-{
-    return [data, this]() -> uint32_t
+uint32_t MicrorosGraphInfoTypeSupport::calculate_serialized_size(
+        const void* const data,
+        eprosima::fastdds::dds::DataRepresentationId_t data_representation)
 {
+    static_cast<void>(data_representation);
+
     return static_cast<uint32_t>(4 + callbacks_->get_serialized_size(data));
-    };
 }
 
-void * MicrorosGraphInfoTypeSupport::createData()
+void * MicrorosGraphInfoTypeSupport::create_data()
 {
     return static_cast<void *>(nullptr);
 }
 
-void MicrorosGraphInfoTypeSupport::deleteData(
+void MicrorosGraphInfoTypeSupport::delete_data(
         void * data)
 {
     (void) data;
 }
 
-bool MicrorosGraphInfoTypeSupport::getKey(
-        void * data,
-        eprosima::fastrtps::rtps::InstanceHandle_t * handle,
-        bool force_md5)
+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 */)
 {
     (void) data;
-    (void) handle;
+    (void) ihandle;
     (void) force_md5;
-    return m_isGetKeyDefined;
+    return is_compute_key_provided;
 }
 
 }  // namespace graph_manager

micro_ros_agent/src/main.cpp

@@ -14,6 +14,9 @@
 
 #include <agent/Agent.hpp>
 
+#include <string>
+#include <vector>
+
 int main(int argc, char** argv)
 {
     uros::agent::Agent micro_ros_agent;
@@ -27,6 +30,11 @@ 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]));
     }