Create graph manager after checking passed CLI arguments and launch xrce-dds server (#41 )

micro_ros_msgs has its own repository now (#40 )
* micro_ros_msgs has its own repository now * Update CI * Update CI * Fix CI order * Error in YAML file * Source ROS2 * Add rosdep update * Fix
2026-09-06 18:05:17 +02:00 · 2020-12-02 16:51:22 +01:00 · 2020-12-01 11:58:57 +01:00 · 2020-11-26 07:44:52 +01:00 · 2020-08-06 08:04:37 +02:00 · 2020-08-04 12:41:39 +02:00
18 changed files with 2230 additions and 90 deletions
@@ -0,0 +1,30 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behaviour:
+1. Clone repo '...'
+2. Add these lines '...'
+3. Run the script '....'
+4. See error
+Code or shell commands ready to be copy-pasted are welcome.
+
+**Expected behaviour**
+A clear and concise description of what you expected to happen.
+
+**System information (please complete the following information):**
+ - OS: [e.g. WIndows 10, Ubuntu 16.04, ...]
+ - ROS 2 [e.g. Dashing, Foxy, ...]
+ - Version [e.g. commit hash, tag, ...]
+
+**Additional context**
+Add any other context about the problem here.
@@ -0,0 +1,32 @@
+name: CI micro-ROS Agent
+
+on:
+    pull_request:
+      branches: 
+        - '**'
+
+jobs:
+
+    microros_agent_ci:
+        runs-on: ubuntu-20.04
+        container: microros/base:foxy
+
+        steps:
+        - name: Download dependencies
+          run: |
+            cd /uros_ws
+            . /opt/ros/foxy/setup.sh
+            . install/local_setup.sh
+            rosdep update
+            ros2 run micro_ros_setup create_agent_ws.sh 
+ 
+        - uses: actions/checkout@v2
+          with:
+            path: src/uros/micro-ROS-Agent
+
+        - name: Build
+          run:  |
+            cd /uros_ws
+            . /opt/ros/foxy/setup.sh
+            . install/local_setup.sh
+            ros2 run micro_ros_setup build_agent.sh 
@@ -0,0 +1,4 @@
+Third Party Licenses
+====================
+
+This repository does not directly contain 3rd party source code. 
@@ -0,0 +1,107 @@
+# Contributing
+
+Want to contribute? Great! You can do so through the standard GitHub pull
+request model. For large contributions we do encourage you to file a ticket in
+the GitHub issues tracking system prior to any code development to coordinate
+with the system_modes development team early in the process. Coordinating up
+front helps to avoid frustration later on.
+
+Your contribution must be licensed under the Apache-2.0 license, the license
+used by this project.
+
+## Add / retain copyright notices
+
+Include a copyright notice and license in each new file to be contributed,
+consistent with the style used by this project. If your contribution contains
+code under the copyright of a third party, document its origin, license, and
+copyright holders.
+
+## Sign your work
+
+This project tracks patch provenance and licensing using a modified Developer
+Certificate of Origin (DCO; from [OSDL][DCO]) and Signed-off-by tags initially
+developed by the Linux kernel project.
+
+```
+system_modes Developer's Certificate of Origin.  Version 1.0
+
+By making a contribution to this project, I certify that:
+
+(a) The contribution was created in whole or in part by me and I
+    have the right to submit it under the "Apache License, Version 2.0"
+    ("Apache-2.0"); or
+
+(b) The contribution is based upon previous work that is covered by
+    an appropriate open source license and I have the right under
+    that license to submit that work with modifications, whether
+    created in whole or in part by me, under the Apache-2.0 license;
+    or
+
+(c) The contribution was provided directly to me by some other
+    person who certified (a) or (b) and I have not modified it.
+
+(d) I understand and agree that this project and the contribution
+    are public and that a record of the contribution (including all
+    metadata and personal information I submit with it, including my
+    sign-off) is maintained indefinitely and may be redistributed
+    consistent with this project and the requirements of the Apache-2.0
+    license or any open source license(s) involved, where they are
+    relevant.
+
+(e) I am granting the contribution to this project under the terms of
+    Apache-2.0.
+
+    http://www.apache.org/licenses/LICENSE-2.0
+```
+
+With the sign-off in a commit message you certify that you authored the patch
+or otherwise have the right to submit it under an open source license. The
+procedure is simple: To certify above system_modes Developer's Certificate of
+Origin 1.0 for your contribution just append a line
+
+    Signed-off-by: Random J Developer <random@developer.example.org>
+
+to every commit message using your real name or your pseudonym and a valid
+email address.
+
+If you have set your `user.name` and `user.email` git configs you can
+automatically sign the commit by running the git-commit command with the `-s`
+option.  There may be multiple sign-offs if more than one developer was
+involved in authoring the contribution.
+
+For a more detailed description of this procedure, please see
+[SubmittingPatches][] which was extracted from the Linux kernel project, and
+which is stored in an external repository.
+
+### Individual vs. Corporate Contributors
+
+Often employers or academic institution have ownership over code that is
+written in certain circumstances, so please do due diligence to ensure that
+you have the right to submit the code.
+
+If you are a developer who is authorized to contribute to system_modes on
+behalf of your employer, then please use your corporate email address in the
+Signed-off-by tag. Otherwise please use a personal email address.
+
+## Maintain Copyright holder / Contributor list
+
+Each contributor is responsible for identifying themselves in the
+[NOTICE](NOTICE) file, the project's list of copyright holders and authors.
+Please add the respective information corresponding to the Signed-off-by tag
+as part of your first pull request.
+
+If you are a developer who is authorized to contribute to system_modes on
+behalf of your employer, then add your company / organization to the list of
+copyright holders in the [NOTICE](NOTICE) file. As author of a corporate
+contribution you can also add your name and corporate email address as in the
+Signed-off-by tag.
+
+If your contribution is covered by this project's DCO's clause "(c) The
+contribution was provided directly to me by some other person who certified
+(a) or (b) and I have not modified it", please add the appropriate copyright
+holder(s) to the [NOTICE](NOTICE) file as part of your contribution.
+
+
+[DCO]: http://web.archive.org/web/20070306195036/http://osdlab.org/newsroom/press_releases/2004/2004_05_24_dco.html
+
+[SubmittingPatches]: https://github.com/wking/signed-off-by/blob/7d71be37194df05c349157a2161c7534feaf86a4/Documentation/SubmittingPatches
@@ -0,0 +1,27 @@
+ 
+# This is the official list of copyright holders and authors.
+#
+# Often employers or academic institutions have ownership over code that is
+# written in certain circumstances, so please do due diligence to ensure that
+# you have the right to submit the code.
+#
+# When adding J Random Contributor's name to this file, either J's name on its
+# own or J's name associated with J's organization's name should be added,
+# depending on whether J's employer (or academic institution) has ownership
+# over code that is written for this project.
+#
+# How to add names to this file:
+#     Individual's name <submission email address>.
+#
+# If Individual's organization is copyright holder of her contributions add the
+# organization's name, optionally also the contributor's name:
+#
+#     Organization's name
+#         Individual's name <submission corporate email address>
+#
+# Please keep the list sorted.
+
+eProsima
+    Jose Antonio Moral <joseantoniomoralparras@eprosima.com>
+    Pablo Garrido <pablogarrido@eprosima.com>
+
@@ -1,7 +1,57 @@
-# 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.

+## 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 and TCP over IPv4 and IPv6.
+- Serial Port transports.
+
+All available configurations are supported directly by the Micro XRCE-DDS agent.
+
+## Purpose of the Project
+
+This software is not ready for production use. It has neither been developed nor
+tested for a specific use case. However, the license conditions of the
+applicable Open Source licenses allow you to adapt the software to your needs.
+Before using it in a safety relevant setting, make sure that the software
+fulfills your requirements and adjust it according to any applicable safety
+standards, e.g., ISO 26262.
+
+## License
+
+This repository is open-sourced under the Apache-2.0 license. See the [LICENSE](LICENSE) file for details.
+
+For a list of other open-source components included in this repository,
+see the file [3rd-party-licenses.txt](3rd-party-licenses.txt).
+
+## Known Issues/Limitations
+
+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.
@@ -23,19 +23,74 @@ project(micro_ros_agent LANGUAGES CXX)

 find_package(ament_cmake REQUIRED)
 find_package(microxrcedds_agent REQUIRED)
+find_package(rosidl_cmake REQUIRED)
+find_package(fastcdr REQUIRED)
+find_package(fastrtps REQUIRED)
+find_package(fastrtps_cmake_module REQUIRED)
+find_package(rmw_dds_common REQUIRED)
+find_package(rmw REQUIRED)
+find_package(rcutils REQUIRED)
+find_package(rmw_fastrtps_shared_cpp REQUIRED)

-add_executable(${PROJECT_NAME} src/main.cpp)
+find_package(ament_lint_auto REQUIRED)
+
+find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
+find_package(rosidl_runtime_cpp REQUIRED)
+find_package(rosidl_typesupport_cpp REQUIRED)
+find_package(ament_cmake_gtest REQUIRED)
+
+find_package(micro_ros_msgs REQUIRED)
+
+add_executable(${PROJECT_NAME}
+  src/main.cpp
+  src/agent/Agent.cpp
+  src/agent/graph_manager/graph_manager.cpp
+  src/agent/graph_manager/graph_typesupport.cpp
+  src/agent/utils/demangle.cpp
+  )
+
+target_include_directories(${PROJECT_NAME}
+  PRIVATE
+    include
+  )
+
+ament_target_dependencies(${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}
-  PRIVATE
  microxrcedds_agent
+  fastcdr
+  fastrtps
  $<$<BOOL:$<PLATFORM_ID:Linux>>:rt>
  $<$<BOOL:$<PLATFORM_ID:Linux>>:dl>
  )

+target_compile_options(${PROJECT_NAME}
+  PRIVATE
+    $<$<C_COMPILER_ID:GNU>:-Wall>
+    $<$<C_COMPILER_ID:GNU>:-Wextra>
+    $<$<C_COMPILER_ID:GNU>:-pedantic>
+  )
+
 set_target_properties(${PROJECT_NAME} PROPERTIES
  CXX_STANDARD
-    11
+    14
+  CXX_STANDARD_REQUIRED
+    YES
+  )
+
+set_target_properties(${PROJECT_NAME} PROPERTIES
+  CXX_STANDARD
+    14
  CXX_STANDARD_REQUIRED
    YES
  )
@@ -79,11 +134,10 @@ if(UROSAGENT_GENERATE_PROFILE)
  get_filename_component(_COLCON_CALL_DIR "${_COLCON_CALL_DIR}" DIRECTORY)

  set(_PYTHON_SCRIPT_HEAD
-    "
-    import os\n
-    import sys\n
-    sys.path.append('${_OUTPUT_PATH}')\n
-    from ${_PYTHON_PKG_TOOL} import *\n
+"import os
+import sys
+sys.path.append('${_OUTPUT_PATH}')
+from ${_PYTHON_PKG_TOOL} import *
 "
    )

@@ -0,0 +1,49 @@
+// Copyright 2020 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.
+
+#ifndef _UROS_AGENT_AGENT_HPP
+#define _UROS_AGENT_AGENT_HPP
+
+#include <uxr/agent/AgentInstance.hpp>
+#include <uxr/agent/middleware/Middleware.hpp>
+#include <uxr/agent/middleware/utils/Callbacks.hpp>
+
+#include <agent/graph_manager/graph_manager.hpp>
+// TODO(jamoralp): class Documentation
+namespace uros {
+namespace agent {
+
+class Agent
+{
+public:
+
+    Agent();
+
+    ~Agent() = default;
+
+    bool create(
+            int argc,
+            char** argv);
+
+    void run();
+
+private:
+
+    eprosima::uxr::AgentInstance& xrce_dds_agent_instance_;
+    std::unique_ptr<graph_manager::GraphManager> graph_manager_;
+};
+
+}  // namespace agent
+}  // namespace uros
+#endif  // _UROS_AGENT_AGENT_HPP
@@ -0,0 +1,322 @@
+// Copyright 2020 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 "fastrtps/Domain.h"
+#include <fastrtps/TopicDataType.h>
+#include "fastrtps/attributes/ParticipantAttributes.h"
+#include "fastrtps/participant/Participant.h"
+#include "fastrtps/participant/ParticipantListener.h"
+#include "fastrtps/attributes/PublisherAttributes.h"
+#include "fastrtps/publisher/Publisher.h"
+#include <fastrtps/publisher/PublisherListener.h>
+#include <fastrtps/rtps/common/MatchingInfo.h>
+
+#include <fastdds/dds/domain/DomainParticipant.hpp>
+#include <fastdds/dds/domain/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/subscriber/DataReader.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 "rmw/types.h"
+#include "rmw/names_and_types.h"
+#include "rmw/impl/cpp/key_value.hpp"
+#include "rmw_dds_common/graph_cache.hpp"
+#include "rmw_fastrtps_shared_cpp/create_rmw_gid.hpp"
+#include "rmw_fastrtps_shared_cpp/qos.hpp"
+
+#include "rcutils/types.h"
+#include "rcutils/types/string_array.h"
+
+#include "rosidl_typesupport_cpp/message_type_support.hpp"
+#include "rosidl_typesupport_fastrtps_cpp/message_type_support.h"
+
+#include "rmw_dds_common/msg/participant_entities_info.hpp"
+#include "micro_ros_msgs/msg/graph.hpp"
+#include "micro_ros_msgs/msg/node.hpp"
+#include "micro_ros_msgs/msg/entity.hpp"
+
+#include <uxr/agent/types/XRCETypes.hpp>
+
+#include <agent/graph_manager/graph_typesupport.hpp>
+#include <agent/utils/demangle.hpp>
+
+#ifndef _UROS_AGENT_GRAPH_MANAGER_HPP
+#define _UROS_AGENT_GRAPH_MANAGER_HPP
+
+namespace uros {
+namespace agent {
+namespace graph_manager {
+
+/**
+ * @brief   Class that keeps track of the existing entities in the ROS 2 world,
+ *          both coming from micro-ROS or from external ROS 2 applications.
+ */
+class GraphManager
+{
+public:
+    /**
+     * @brief   Default constructor.
+     */
+    GraphManager();
+
+    /**
+     * @brief   Default destructor.
+     */
+    ~GraphManager() = default;
+
+    /**
+     * @brief   Implementation of the notification logic that updates the micro-ROS graph.
+     */
+    void publish_microros_graph();
+
+    /**
+     * @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   enclave ROS 2 enclave.
+     */
+    void add_participant(
+            const eprosima::fastrtps::rtps::GUID_t& guid,
+            const std::string& node_name,
+            const std::string& enclave);
+
+    /**
+     * @brief   Removes a DDS participant from the graph tree.
+     * @param   guid rtps::GUID_t of the participant to be removed.
+     */
+    void remove_participant(
+            const eprosima::fastrtps::rtps::GUID_t& guid);
+
+    /**
+     * @brief   Adds a DDS datawriter to the graph tree.
+     * @param   datawriter_guid rtps::GUID_t of the datawriter to be added.
+     * @param   participant Pointer to the participant which owns this datawriter.
+     * @param   datawriter Pointer to the datawriter to be added.
+     */
+    void add_datawriter(
+            const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
+            const eprosima::fastdds::dds::DomainParticipant* participant,
+            const eprosima::fastdds::dds::DataWriter* datawriter);
+
+    /**
+     * @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::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);
+
+    /**
+     * @brief   Adds a DDS datareader to the graph tree.
+     * @param   datareader_guid rtps::GUID_t of the datareader to be added.
+     * @param   participant Pointer to the participant which owns this datareader.
+     * @param   datareader Pointer to the datareader to be added.
+     */
+    void add_datareader(
+            const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
+            const eprosima::fastdds::dds::DomainParticipant* participant,
+            const eprosima::fastdds::dds::DataReader* datareader);
+
+    /**
+     * @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::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);
+
+    /**
+     * @brief   Associates a certain DDS entity with a provided participant.
+     * @param   guid rtps::GUID_t identifier of the entity.
+     * @param   participant Participant to be associated with.
+     * @param   entity_kind Kind of the DDS entity.
+     */
+    void associate_entity(
+            const eprosima::fastrtps::rtps::GUID_t& entity_guid,
+            const eprosima::fastdds::dds::DomainParticipant* participant,
+            const dds::xrce::ObjectKind& entity_kind);
+
+private:
+
+    /**
+     * @brief   Implementation of FastDDS' DomainParticipantListener abstract class.
+     */
+    class ParticipantListener : public eprosima::fastdds::dds::DomainParticipantListener
+    {
+    public:
+
+        /**
+         * @brief   Constructor.
+         * @param   graph_manager Pointer to the GraphManager object which owns this ParticipantListener.
+         */
+        ParticipantListener(
+                GraphManager* graph_manager);
+    private:
+
+        template <typename Info>
+        void process_discovery_info(
+                const Info& proxyData);
+
+        void on_participant_discovery(
+                eprosima::fastdds::dds::DomainParticipant* participant,
+                eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info) override;
+
+        void on_subscriber_discovery(
+                eprosima::fastdds::dds::DomainParticipant* /*participant*/,
+                eprosima::fastrtps::rtps::ReaderDiscoveryInfo&& info) override;
+
+        void on_publisher_discovery(
+                eprosima::fastdds::dds::DomainParticipant* /*participant*/,
+                eprosima::fastrtps::rtps::WriterDiscoveryInfo&& info) override;
+
+        GraphManager* graphManager_from_;
+    };
+
+    /**
+     * @brief   Implementation of FastDDS' DomainReaderListener abstract class.
+     */
+    class DatareaderListener : public eprosima::fastdds::dds::DataReaderListener
+    {
+    public:
+
+        /**
+         * @brief   Constructor.
+         * @param   graph_manager Pointer to the GraphManager object which owns this DataReaderListener.
+         */
+        DatareaderListener(
+                GraphManager* graph_manager);
+
+    private:
+
+        void on_data_available(
+                eprosima::fastdds::dds::DataReader* /*sub*/) override;
+
+        GraphManager* graphManager_from_;
+    };
+
+    /**
+     * @brief   Convert FastDDS QOS object instance to RMW instance.
+     * @param   fastdds_qos QOS instance to be converted.
+     * @returns RMW object representation of the given FastDDS QOS.
+     */
+    template <typename FastDDSQos>
+    const rmw_qos_profile_t fastdds_qos_to_rmw_qos(
+            const FastDDSQos& fastdds_qos);
+
+    /**
+     * @brief   Update micro-ROS graph information upon new data
+     *          received in the 'ros_discovery_info' topic.
+     */
+    void update_node_entities_info();
+
+    bool graph_changed_;
+    bool display_on_change_;
+    const char * enclave_;
+    std::thread microros_graph_publisher_;
+    std::mutex mtx_;
+    std::condition_variable cv_;
+
+    rmw_dds_common::GraphCache graphCache_;
+    std::unique_ptr<ParticipantListener> participant_listener_;
+    std::unique_ptr<DatareaderListener> datareader_listener_;
+
+    std::unique_ptr<eprosima::fastdds::dds::TypeSupport> participant_info_typesupport_;
+    std::unique_ptr<eprosima::fastdds::dds::TypeSupport> microros_graph_info_typesupport_;
+    std::unique_ptr<eprosima::fastdds::dds::DomainParticipant> participant_;
+    std::unique_ptr<eprosima::fastdds::dds::Publisher> publisher_;
+    std::unique_ptr<eprosima::fastdds::dds::Subscriber> subscriber_;
+    std::unique_ptr<eprosima::fastdds::dds::Topic> ros_discovery_topic_;
+    std::unique_ptr<eprosima::fastdds::dds::Topic> ros_to_microros_graph_topic_;
+    std::unique_ptr<eprosima::fastdds::dds::DataWriter> ros_discovery_datawriter_;
+    std::unique_ptr<eprosima::fastdds::dds::DataWriter> ros_to_microros_graph_datawriter_;
+    std::unique_ptr<eprosima::fastdds::dds::DataReader> ros_discovery_datareader_;
+};
+
+}  // namespace graph_manager
+}  // namespace agent
+}  // namespace uros
+
+#endif  // _UROS_AGENT_GRAPH_MANAGER_HPP
@@ -0,0 +1,127 @@
+// Copyright 2020 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.
+
+#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/domain/DomainParticipant.hpp>
+#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
+
+#include "rmw/types.h"
+#include "rmw/impl/cpp/key_value.hpp"
+#include "rmw_dds_common/graph_cache.hpp"
+#include "rmw_fastrtps_shared_cpp/create_rmw_gid.hpp"
+#include "rmw_fastrtps_shared_cpp/qos.hpp"
+
+#include "rcutils/types.h"
+
+#include "rosidl_typesupport_cpp/message_type_support.hpp"
+#include "rosidl_typesupport_fastrtps_cpp/message_type_support.h"
+
+#include "rmw_dds_common/msg/participant_entities_info.hpp"
+
+#include "micro_ros_msgs/msg/graph.hpp"
+
+namespace uros {
+namespace agent {
+namespace graph_manager {
+
+/**
+ * @brief   Implementation of virtual class eprosima::fastdds::dds::TopicDataType.
+ *          Is used to gather and send information about the entities present within a DDS domain,
+ *          in the Agent's context.
+ */
+class ParticipantEntitiesInfoTypeSupport : public eprosima::fastdds::dds::TopicDataType
+{
+public:
+
+    ParticipantEntitiesInfoTypeSupport();
+
+    virtual bool serialize(
+            void* data,
+            eprosima::fastrtps::rtps::SerializedPayload_t* payload) override;
+
+    virtual bool deserialize(
+            eprosima::fastrtps::rtps::SerializedPayload_t* payload,
+            void* data) override;
+
+    virtual std::function<uint32_t()> getSerializedSizeProvider(
+            void* data) override;
+
+    virtual void* createData() override;
+
+    virtual void deleteData(void* data) override;
+
+    virtual bool getKey(
+            void* data,
+            eprosima::fastrtps::rtps::InstanceHandle_t* handle,
+            bool force_md5) override;
+
+private:
+
+    const message_type_support_callbacks_t* callbacks_;
+    const rosidl_message_type_support_t* type_support_;
+};
+
+/**
+ * @brief   Implementation of virtual class eprosima::fastdds::dds::TopicDataType.
+ *          Is used to send graph information to Micro-ROS.
+ */
+class MicrorosGraphInfoTypeSupport : public eprosima::fastdds::dds::TopicDataType
+{
+public:
+
+    MicrorosGraphInfoTypeSupport();
+
+    virtual bool serialize(
+            void* data,
+            eprosima::fastrtps::rtps::SerializedPayload_t* payload) override;
+
+    virtual bool deserialize(
+            eprosima::fastrtps::rtps::SerializedPayload_t* payload,
+            void* data) override;
+
+    virtual std::function<uint32_t()> getSerializedSizeProvider(
+            void* data) override;
+
+    virtual void* createData() override;
+
+    virtual void deleteData(void* data) override;
+
+    virtual bool getKey(
+            void* data,
+            eprosima::fastrtps::rtps::InstanceHandle_t* handle,
+            bool force_md5) override;
+
+private:
+
+    const message_type_support_callbacks_t* callbacks_;
+    const rosidl_message_type_support_t* type_support_;
+};
+
+}  // namespace graph_manager
+}  // namespace agent
+}  // namespace uros
+
+#endif  // UROS_AGENT_GRAPH_PARTICIPANTS_TYPESUPPORT_HPP_
@@ -0,0 +1,125 @@
+// Copyright 2020 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.
+
+#ifndef UROS_AGENT_UTILS_DEMANGLE_HPP_
+#define UROS_AGENT_UTILS_DEMANGLE_HPP_
+
+#include <string>
+
+namespace uros {
+namespace agent {
+namespace utils {
+
+class Demangle
+{
+private:
+    /**
+     * @brief   Default constructor. Creating instances of this class is not allowed.
+     */
+    Demangle() = default;
+
+    /**
+     * @brief   Default destructor.
+     */
+    ~Demangle() = default;
+
+    /**
+     * @brief   Demangle service name for a given topic, prefix and service suffix,
+     *          if the topic is part of a service; otherwise, return blank.
+     * @param   prefix The ROS service prefix.
+     * @param   topic_name Topic to be demangled.
+     * @param   suffix The ROS service suffix.
+     * @returns The demangled service name.
+     */
+    static std::string _demangle_service_from_topic(
+            const std::string& prefix,
+            const std::string& topic_name,
+            const std::string& suffix);
+
+public:
+    /**
+     * @brief   Demangle if passed topic is a ROS topic; otherwise, keep it intact.
+     * @param   topic_name Topic to be demangled.
+     * @returns The demangled topic.
+     */
+    static std::string demangle_if_ros_topic(
+            const std::string& topic_name);
+
+    /**
+     * @brief   Demangle if passed type is a ROS type; otherwise, keep it intact.
+     * @param   dds_type_string Type to be demangled.
+     * @returns The demangled type.
+     */
+    static std::string demangle_if_ros_type(
+            const std::string& dds_type_string);
+
+    /**
+     * @brief   Demangle topic name for a given topic if it is part of one;
+     *          otherwise, return empty.
+     * @param   topic_name Topic to be demangled.
+     * @returns The demangled topic name.
+     */
+    static std::string demangle_ros_topic_from_topic(
+            const std::string& topic_name);
+
+    /**
+     * @brief   Demangle the service name for a given topic if it is part of a service;
+     *          otherwise, return empty.
+     * @param   topic_name Topic to be demangled.
+     * @returns The demangled service name.
+     */
+
+    static std::string demangle_service_from_topic(
+            const std::string& topic_name);
+
+    /**
+     * @brief   Demangle the service name for a given topic if it is part
+     *          of a service request; otherwise, return empty.
+     * @param   topic_name Topic to be demangled.
+     * @returns The demangled service request name.
+     */
+    static std::string demangle_service_request_from_topic(
+            const std::string& topic_name);
+
+    /**
+     * @brief   Demangle the service name for a given topic if it is part
+     *          of a service reply; otherwise, return empty.
+     * @param   topic_name Topic to be demangled.
+     * @returns The demangled service reply name.
+     */
+    static std::string demangle_service_reply_from_topic(
+            const std::string& topic_name);
+
+    /**
+     * @brief   Demangle the service type name if it is a ROS srv type; otherwise, return empty.
+     * @param   dds_type_name Type to be demangled.
+     * @returns The demangled service type.
+     */
+    static std::string demangle_service_type_only(
+            const std::string& dds_type_name);
+
+    /**
+     * @brief   Generic demangle function, used when ROS names are not mangled.
+     * @param   name Generic name to be demangled.
+     * @returns The demangled name.
+     */
+    static std::string identity_demangle(
+            const std::string& name);
+};
+
+}  // namespace utils
+}  // namespace agent
+}  // namespace uros
+
+#endif  // UROS_AGENT_UTILS_DEMANGLE_HPP_
@@ -164,21 +164,20 @@ def generate_XML(args):
            # 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  = "   <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"
+            file_content += "   </dds>\n"


            # Data reader
-            #file_content += "   <dds>\n"
+            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"
@@ -186,16 +185,16 @@ def generate_XML(args):
            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"
+            file_content += "   </dds>\n"


            # Topic
-            #file_content += "   <dds>\n"
+            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"
+            file_content += "   </dds>\n"


            # Write file content
@@ -8,13 +8,23 @@
  <license>Apache License 2.0</license>

  <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_export_depend>ament_cmake</buildtool_export_depend>

-  <depend>microxrcedds_agent</depend>
+  <test_depend>rosidl_default_generators</test_depend>

  <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>
+  <depend>rmw_dds_common</depend>
+  <depend>micro_ros_msgs</depend>
+
+  <test_depend>rosidl_typesupport_fastrtps_cpp</test_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>builtin_interfaces</test_depend>
+
  <export>
    <build_type>ament_cmake</build_type>
  </export>
@@ -0,0 +1,173 @@
+// Copyright 2020 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.
+
+#ifndef _UROS_AGENT_AGENT_CPP
+#define _UROS_AGENT_AGENT_CPP
+
+#include <agent/Agent.hpp>
+
+namespace uros {
+namespace agent {
+
+Agent::Agent()
+    : xrce_dds_agent_instance_(xrce_dds_agent_instance_.getInstance())
+    , graph_manager_(nullptr)
+{
+}
+
+bool Agent::create(
+        int argc,
+        char** argv)
+{
+    bool result = xrce_dds_agent_instance_.create(argc, argv);
+    if (result)
+    {
+        graph_manager_.reset(new graph_manager::GraphManager());
+
+        /**
+         * Add CREATE_PARTICIPANT callback.
+         */
+        std::function<void (
+            const eprosima::fastdds::dds::DomainParticipant *)> on_create_participant
+            ([&](
+                const eprosima::fastdds::dds::DomainParticipant* participant) -> void
+            {
+                graph_manager_->add_participant(participant);
+            });
+        xrce_dds_agent_instance_.add_middleware_callback(
+            eprosima::uxr::Middleware::Kind::FASTDDS,
+            eprosima::uxr::middleware::CallbackKind::CREATE_PARTICIPANT,
+            std::move(on_create_participant));
+
+        /**
+         * Add REMOVE_PARTICIPANT callback.
+         */
+        std::function<void (
+            const eprosima::fastdds::dds::DomainParticipant *)> on_delete_participant
+            ([&](
+                const eprosima::fastdds::dds::DomainParticipant* participant) -> void
+            {
+                graph_manager_->remove_participant(participant->guid());
+            });
+        xrce_dds_agent_instance_.add_middleware_callback(
+            eprosima::uxr::Middleware::Kind::FASTDDS,
+            eprosima::uxr::middleware::CallbackKind::DELETE_PARTICIPANT,
+            std::move(on_delete_participant));
+
+        /**
+         * Add CREATE_DATAWRITER callback.
+         */
+        std::function<void (
+            const eprosima::fastdds::dds::DomainParticipant *,
+            const eprosima::fastdds::dds::DataWriter *)> on_create_datawriter
+            ([&](
+                const eprosima::fastdds::dds::DomainParticipant* participant,
+                const eprosima::fastdds::dds::DataWriter* datawriter) -> void
+            {
+                // TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
+                    datawriter->get_instance_handle();
+                const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
+                    iHandle2GUID(instance_handle);
+                graph_manager_->add_datawriter(datawriter_guid, participant, datawriter);
+                graph_manager_->associate_entity(
+                    datawriter_guid, participant, dds::xrce::OBJK_DATAWRITER);
+            });
+        xrce_dds_agent_instance_.add_middleware_callback(
+            eprosima::uxr::Middleware::Kind::FASTDDS,
+            eprosima::uxr::middleware::CallbackKind::CREATE_DATAWRITER,
+            std::move(on_create_datawriter));
+
+        /**
+         * Add DELETE_DATAWRITER callback.
+         */
+        std::function<void (
+            const eprosima::fastdds::dds::DomainParticipant *,
+            const eprosima::fastdds::dds::DataWriter *)> on_delete_datawriter
+            ([&](
+                const eprosima::fastdds::dds::DomainParticipant* /*participant*/,
+                const eprosima::fastdds::dds::DataWriter* datawriter) -> void
+            {
+                // TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
+                    datawriter->get_instance_handle();
+                const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
+                graph_manager_->remove_datawriter(datawriter_guid);
+            });
+
+        xrce_dds_agent_instance_.add_middleware_callback(
+            eprosima::uxr::Middleware::Kind::FASTDDS,
+            eprosima::uxr::middleware::CallbackKind::DELETE_DATAWRITER,
+            std::move(on_delete_datawriter));
+
+        /**
+         * Add CREATE_DATAREADER callback.
+         */
+        std::function<void (
+            const eprosima::fastdds::dds::DomainParticipant *,
+            const eprosima::fastdds::dds::DataReader*)> on_create_datareader
+            ([&](
+                const eprosima::fastdds::dds::DomainParticipant* participant,
+                const eprosima::fastdds::dds::DataReader* datareader) -> void
+            {
+                // TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
+                    datareader->get_instance_handle();
+                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
+                graph_manager_->add_datareader(datareader_guid, participant, datareader);
+                graph_manager_->associate_entity(
+                    datareader_guid, participant, dds::xrce::OBJK_DATAREADER);
+            });
+        xrce_dds_agent_instance_.add_middleware_callback(
+            eprosima::uxr::Middleware::Kind::FASTDDS,
+            eprosima::uxr::middleware::CallbackKind::CREATE_DATAREADER,
+            std::move(on_create_datareader));
+
+        /**
+         * Add DELETE_DATAREADER callback.
+         */
+        std::function<void (
+            const eprosima::fastdds::dds::DomainParticipant *,
+            const eprosima::fastdds::dds::DataReader *)> on_delete_datareader
+            ([&](
+                const eprosima::fastdds::dds::DomainParticipant* /*participant*/,
+                const eprosima::fastdds::dds::DataReader* datareader) -> void
+            {
+                // TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
+                    datareader->get_instance_handle();
+                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
+                graph_manager_->remove_datareader(datareader_guid);
+            });
+
+        xrce_dds_agent_instance_.add_middleware_callback(
+            eprosima::uxr::Middleware::Kind::FASTDDS,
+            eprosima::uxr::middleware::CallbackKind::DELETE_DATAREADER,
+            std::move(on_delete_datareader));
+    }
+
+    return result;
+}
+
+void Agent::run()
+{
+    return xrce_dds_agent_instance_.run();
+}
+
+}  // namespace agent
+}  // namespace uros
+#endif  // _UROS_AGENT_AGENT_CPP
@@ -0,0 +1,688 @@
+// Copyright 2020 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.
+
+#ifndef _UROS_AGENT_GRAPH_MANAGER_CPP
+#define _UROS_AGENT_GRAPH_MANAGER_CPP
+
+#include <agent/graph_manager/graph_manager.hpp>
+
+namespace uros {
+namespace agent {
+namespace graph_manager {
+
+GraphManager::GraphManager()
+    // : eprosima::fastrtps::ParticipantListener()
+    : graph_changed_(false)
+    , display_on_change_(false)
+    , enclave_("/")
+    , mtx_()
+    , cv_()
+    , graphCache_()
+    , participant_listener_(std::make_unique<ParticipantListener>(this))
+    , datareader_listener_(std::make_unique<DatareaderListener>(this))
+    , participant_info_typesupport_(std::make_unique<
+        eprosima::fastdds::dds::TypeSupport>(new graph_manager::ParticipantEntitiesInfoTypeSupport()))
+    , microros_graph_info_typesupport_(std::make_unique<
+        eprosima::fastdds::dds::TypeSupport>(new graph_manager::MicrorosGraphInfoTypeSupport()))
+{
+    // Create DomainParticipant
+    eprosima::fastdds::dds::DomainId_t domain_id(0);
+
+    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;
+    participant_qos.user_data().resize(length);
+    snprintf(reinterpret_cast<char *>(participant_qos.user_data().data_vec().data()),
+        length, "enclave=%s;", enclave_);
+
+    participant_qos.name(enclave_);
+    participant_qos.wire_protocol().builtin.readerHistoryMemoryPolicy =
+        eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+    participant_qos.wire_protocol().builtin.writerHistoryMemoryPolicy =
+        eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+
+    participant_.reset(eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->
+        create_participant(domain_id, participant_qos, participant_listener_.get()));
+
+    // Register participant within typesupport
+    participant_->register_type(*participant_info_typesupport_);
+    participant_->register_type(*microros_graph_info_typesupport_);
+
+    // Create publisher
+    publisher_.reset(participant_->create_publisher(
+        eprosima::fastdds::dds::PUBLISHER_QOS_DEFAULT));
+
+    // Create subscriber
+    subscriber_.reset(participant_->create_subscriber(
+        eprosima::fastdds::dds::SUBSCRIBER_QOS_DEFAULT));
+
+    // Create topics
+    ros_discovery_topic_.reset(participant_->create_topic("ros_discovery_info",
+        participant_info_typesupport_->get_type_name(),
+        eprosima::fastdds::dds::TOPIC_QOS_DEFAULT));
+
+    ros_to_microros_graph_topic_.reset(participant_->create_topic("ros_to_microros_graph",
+        microros_graph_info_typesupport_->get_type_name(),
+        eprosima::fastdds::dds::TOPIC_QOS_DEFAULT));
+
+    // Create datawriters
+    eprosima::fastdds::dds::DataWriterQos datawriter_qos =
+        eprosima::fastdds::dds::DATAWRITER_QOS_DEFAULT;
+
+    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 =
+        eprosima::fastdds::dds::PublishModeQosPolicyKind::ASYNCHRONOUS_PUBLISH_MODE;
+    datawriter_qos.reliability().kind =
+        eprosima::fastdds::dds::ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
+    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;
+    ros_to_microros_graph_datawriter_.reset(
+        publisher_->create_datawriter(ros_to_microros_graph_topic_.get(), datawriter_qos));
+
+    // Create datareaders
+
+    eprosima::fastdds::dds::DataReaderQos datareader_qos =
+        eprosima::fastdds::dds::DATAREADER_QOS_DEFAULT;
+    datareader_qos.history().kind =
+        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;
+    datareader_qos.reliability().kind =
+        eprosima::fastdds::dds::ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
+    datareader_qos.durability().kind =
+        eprosima::fastdds::dds::DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;
+
+    ros_discovery_datareader_.reset(
+        subscriber_->create_datareader(ros_discovery_topic_.get(),
+            datareader_qos, datareader_listener_.get()));
+
+    // 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();
+    });
+
+    microros_graph_publisher_ = std::thread(&GraphManager::publish_microros_graph, this);
+}
+
+inline void GraphManager::publish_microros_graph()
+{
+    while (true)
+    {
+        {
+            std::unique_lock<std::mutex> lock(mtx_);
+            cv_.wait(lock, [this]()
+            {
+                return this->graph_changed_;
+            });
+        }
+
+        if (display_on_change_)
+        {
+            std::cout << "Updated uros Graph: graph changed" << std::endl;
+            std::cout << graphCache_ << std::endl;
+        }
+        graph_changed_ = false;
+
+        micro_ros_msgs::msg::Graph graph_message;
+
+        rcutils_string_array_t node_names = rcutils_get_zero_initialized_string_array();
+        rcutils_string_array_t node_namespaces = rcutils_get_zero_initialized_string_array();
+        rcutils_allocator_t allocator = rcutils_get_default_allocator();
+
+        graphCache_.get_node_names(&node_names, &node_namespaces, nullptr, &allocator);
+
+        for (size_t i = 0; i < node_names.size; ++i)
+        {
+            const std::string node_name(node_names.data[i]);
+            const std::string node_namespace(node_namespaces.data[i]);
+
+            micro_ros_msgs::msg::Node node_message;
+            node_message.node_namespace = std::move(node_namespace);
+            node_message.node_name = std::move(node_name);
+
+            // Get publishers info
+            rmw_names_and_types_t writer_names_and_types =
+                rmw_get_zero_initialized_names_and_types();
+            if (RMW_RET_OK != graphCache_.get_writer_names_and_types_by_node(node_name, node_namespace,
+                uros::agent::utils::Demangle::demangle_ros_topic_from_topic,
+                uros::agent::utils::Demangle::demangle_if_ros_type,
+                &allocator, &writer_names_and_types))
+            {
+                break;
+            }
+
+            for (size_t i = 0; i < writer_names_and_types.names.size; ++i)
+            {
+                micro_ros_msgs::msg::Entity entity_message;
+                entity_message.entity_type = micro_ros_msgs::msg::Entity::PUBLISHER;
+                entity_message.name = std::move(std::string(writer_names_and_types.names.data[i]));
+
+                for (size_t j = 0; j < writer_names_and_types.types[i].size; ++j)
+                {
+                    entity_message.types.emplace_back(writer_names_and_types.types[i].data[j]);
+                }
+
+                node_message.entities.emplace_back(std::move(entity_message));
+            }
+
+            // Get subscribers info
+            rmw_names_and_types_t reader_names_and_types =
+                rmw_get_zero_initialized_names_and_types();
+            if (RMW_RET_OK != graphCache_.get_reader_names_and_types_by_node(node_name, node_namespace,
+                uros::agent::utils::Demangle::demangle_ros_topic_from_topic,
+                uros::agent::utils::Demangle::demangle_if_ros_type,
+                &allocator, &reader_names_and_types))
+            {
+                break;
+            }
+
+            for (size_t i = 0; i < reader_names_and_types.names.size; ++i)
+            {
+                micro_ros_msgs::msg::Entity entity_message;
+                entity_message.entity_type = micro_ros_msgs::msg::Entity::SUBSCRIBER;
+                entity_message.name = std::move(std::string(reader_names_and_types.names.data[i]));
+
+                for (size_t j = 0; j < reader_names_and_types.types[i].size; ++j)
+                {
+                    entity_message.types.emplace_back(reader_names_and_types.types[i].data[j]);
+                }
+
+                node_message.entities.emplace_back(std::move(entity_message));
+            }
+
+            // Get services
+            //// Get servers
+            rmw_names_and_types_t service_server_names_and_types =
+              rmw_get_zero_initialized_names_and_types();
+            if (RMW_RET_OK != graphCache_.get_names_and_types(
+                uros::agent::utils::Demangle::demangle_service_request_from_topic,
+                uros::agent::utils::Demangle::demangle_service_type_only,
+                &allocator, &service_server_names_and_types))
+            {
+                break;
+            }
+
+            for (size_t i = 0; i < service_server_names_and_types.names.size; ++i)
+            {
+                micro_ros_msgs::msg::Entity entity_message;
+                entity_message.entity_type = micro_ros_msgs::msg::Entity::SERVICE_SERVER;
+                entity_message.name = std::move(std::string(service_server_names_and_types.names.data[i]));
+
+                for (size_t j = 0; j < service_server_names_and_types.types[i].size; ++j)
+                {
+                    entity_message.types.emplace_back(service_server_names_and_types.types[i].data[j]);
+                }
+
+                node_message.entities.emplace_back(std::move(entity_message));
+            }
+
+            //// Get clients
+            rmw_names_and_types_t service_client_names_and_types =
+              rmw_get_zero_initialized_names_and_types();
+            if (RMW_RET_OK != graphCache_.get_names_and_types(
+                uros::agent::utils::Demangle::demangle_service_reply_from_topic,
+                uros::agent::utils::Demangle::demangle_service_type_only,
+                &allocator, &service_client_names_and_types))
+            {
+              break;
+            }
+
+            for (size_t i = 0; i < service_client_names_and_types.names.size; ++i)
+            {
+                micro_ros_msgs::msg::Entity entity_message;
+                entity_message.entity_type = micro_ros_msgs::msg::Entity::SERVICE_CLIENT;
+                entity_message.name = std::move(std::string(service_client_names_and_types.names.data[i]));
+
+                for (size_t j = 0; j < service_client_names_and_types.types[i].size; ++j)
+                {
+                    entity_message.types.emplace_back(service_client_names_and_types.types[i].data[j]);
+                }
+
+                node_message.entities.emplace_back(std::move(entity_message));
+            }
+
+            graph_message.nodes.emplace_back(std::move(node_message));
+
+            if (RMW_RET_OK != rmw_names_and_types_fini(&writer_names_and_types) ||
+                RMW_RET_OK != rmw_names_and_types_fini(&reader_names_and_types) ||
+                RMW_RET_OK != rmw_names_and_types_fini(&service_server_names_and_types) ||
+                RMW_RET_OK != rmw_names_and_types_fini(&service_client_names_and_types))
+            {
+                std::cerr << "Problem while freeing resources in Micro-ROS Graph Manager"
+                          << ", file: '" << __FILE__ << "', line: '" << __LINE__ << "'." << std::endl;
+                return;
+            }
+        }
+
+        ros_to_microros_graph_datawriter_->write(static_cast<void *>(&graph_message));
+
+        if (RCUTILS_RET_OK != rcutils_string_array_fini(&node_names) ||
+            RCUTILS_RET_OK != rcutils_string_array_fini(&node_namespaces))
+        {
+            std::cerr << "Problem while freeing resources in Micro-ROS Graph Manager"
+                      << ", file: '" << __FILE__ << "', line: '" << __LINE__ << "'." << std::endl;
+            break;
+        }
+    }
+}
+
+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 std::string& enclave)
+{
+    const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", guid);
+
+    graphCache_.add_participant(gid, enclave);
+
+    if (node_name != enclave) // Do not add root node
+    {
+        rmw_dds_common::msg::ParticipantEntitiesInfo info =
+            graphCache_.add_node(gid, node_name, enclave_);
+        ros_discovery_datawriter_->write(static_cast<void *>(&info));
+    }
+}
+
+void GraphManager::remove_participant(
+        const eprosima::fastrtps::rtps::GUID_t& guid)
+{
+    const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", guid);
+    graphCache_.remove_participant(gid);
+}
+
+void GraphManager::add_datawriter(
+        const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
+        const eprosima::fastdds::dds::DomainParticipant* participant,
+        const eprosima::fastdds::dds::DataWriter* datawriter)
+{
+    const std::string& topic_name = datawriter->get_topic()->get_name();
+    const std::string& type_name = datawriter->get_topic()->get_type_name();
+    this->add_datawriter(datawriter_guid, topic_name, type_name,
+        participant->guid(), datawriter->get_qos());
+}
+
+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::DataWriterQos& 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);
+    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);
+}
+
+void GraphManager::remove_datawriter(
+        const eprosima::fastrtps::rtps::GUID_t& datawriter_guid)
+{
+    const rmw_gid_t datawriter_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
+        "rmw_fastrtps_cpp", datawriter_guid);
+
+    graphCache_.remove_entity(datawriter_gid, false);
+}
+
+void GraphManager::add_datareader(
+        const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
+        const eprosima::fastdds::dds::DomainParticipant* participant,
+        const eprosima::fastdds::dds::DataReader* datareader)
+{
+    const std::string& topic_name = datareader->get_topicdescription()->get_name();
+    const std::string& type_name = datareader->get_topicdescription()->get_type_name();
+    this->add_datareader(datareader_guid, topic_name, type_name,
+        participant->guid(), datareader->get_qos());
+}
+
+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::DataReaderQos& 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);
+    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);
+}
+
+void GraphManager::remove_datareader(
+        const eprosima::fastrtps::rtps::GUID_t& datareader_guid)
+{
+    const rmw_gid_t datareader_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
+        "rmw_fastrtps_cpp", datareader_guid);
+
+    graphCache_.remove_entity(datareader_gid, true);
+}
+
+void GraphManager::associate_entity(
+        const eprosima::fastrtps::rtps::GUID_t& entity_guid,
+        const eprosima::fastdds::dds::DomainParticipant* participant,
+        const dds::xrce::ObjectKind& entity_kind)
+{
+    const rmw_gid_t entity_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
+        "rmw_fastrtps_cpp", entity_guid);
+    const rmw_gid_t participant_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
+        "rmw_fastrtps_cpp", participant->guid());
+
+    eprosima::fastdds::dds::DomainParticipantQos qos = participant->get_qos();
+    rmw_dds_common::msg::ParticipantEntitiesInfo info;
+
+    switch (entity_kind)
+    {
+        case dds::xrce::OBJK_DATAWRITER:
+        {
+            info = graphCache_.associate_writer(
+                entity_gid, participant_gid, qos.name().c_str(), enclave_);
+            break;
+        }
+        case dds::xrce::OBJK_DATAREADER:
+        {
+            info = graphCache_.associate_reader(
+                entity_gid, participant_gid, qos.name().c_str(), enclave_);
+            break;
+        }
+        default:
+        {
+            break;
+        }
+    }
+    ros_discovery_datawriter_->write(static_cast<void *>(&info));
+}
+
+
+template <typename FastDDSQos>
+const rmw_qos_profile_t GraphManager::fastdds_qos_to_rmw_qos(
+        const FastDDSQos& fastdds_qos)
+{
+    rmw_qos_profile_t rmw_qos = rmw_qos_profile_unknown;
+    switch (fastdds_qos.reliability().kind)
+    {
+        case eprosima::fastdds::dds::ReliabilityQosPolicyKind::BEST_EFFORT_RELIABILITY_QOS:
+        {
+            rmw_qos.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
+            break;
+        }
+        case eprosima::fastdds::dds::ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS:
+        {
+            rmw_qos.reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+            break;
+        }
+        default:
+        {
+            rmw_qos.reliability = RMW_QOS_POLICY_RELIABILITY_UNKNOWN;
+            break;
+        }
+    }
+
+    switch (fastdds_qos.durability().kind)
+    {
+        case eprosima::fastdds::dds::DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS:
+        {
+            rmw_qos.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+            break;
+        }
+        case eprosima::fastdds::dds::DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS:
+        {
+            rmw_qos.durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+            break;
+        }
+        default:
+        {
+            rmw_qos.durability = RMW_QOS_POLICY_DURABILITY_UNKNOWN;
+            break;
+        }
+    }
+
+    rmw_qos.deadline.sec = fastdds_qos.deadline().period.seconds;
+    rmw_qos.deadline.nsec = fastdds_qos.deadline().period.nanosec;
+
+    rmw_qos.lifespan.sec = fastdds_qos.lifespan().duration.seconds;
+    rmw_qos.lifespan.nsec = fastdds_qos.lifespan().duration.nanosec;
+
+    switch (fastdds_qos.liveliness().kind)
+    {
+        case eprosima::fastdds::dds::LivelinessQosPolicyKind::AUTOMATIC_LIVELINESS_QOS:
+        {
+            rmw_qos.liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
+            break;
+        }
+        case eprosima::fastdds::dds::LivelinessQosPolicyKind::MANUAL_BY_TOPIC_LIVELINESS_QOS:
+        {
+            rmw_qos.liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC;
+            break;
+        }
+        default:
+        {
+            rmw_qos.liveliness = RMW_QOS_POLICY_LIVELINESS_UNKNOWN;
+            break;
+        }
+    }
+
+    rmw_qos.liveliness_lease_duration.sec = fastdds_qos.liveliness().lease_duration.seconds;
+    rmw_qos.liveliness_lease_duration.nsec = fastdds_qos.liveliness().lease_duration.nanosec;
+
+    return rmw_qos;
+}
+
+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)
+    {
+        if (sample_info.instance_state == eprosima::fastdds::dds::InstanceStateKind::ALIVE)
+        {
+            graphCache_.update_participant_entities(entities_info);
+        }
+    }
+}
+
+GraphManager::ParticipantListener::ParticipantListener(
+        GraphManager* graph_manager)
+    : eprosima::fastdds::dds::DomainParticipantListener()
+    , graphManager_from_(graph_manager)
+{
+}
+
+void GraphManager::ParticipantListener::on_participant_discovery(
+        eprosima::fastdds::dds::DomainParticipant* participant,
+        eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info)
+{
+    switch (info.status)
+    {
+        case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DISCOVERED_PARTICIPANT:
+        {
+            auto map = rmw::impl::cpp::parse_key_value(info.info.m_userData);
+            auto name_found = map.find("enclave");
+
+            if (map.end() == name_found)
+            {
+                return;
+            }
+            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);
+            break;
+        }
+        case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT:
+        case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DROPPED_PARTICIPANT:
+        {
+            graphManager_from_->remove_participant(info.info.m_guid);
+            break;
+        }
+        default:
+        {
+            break;
+        }
+    }
+}
+
+template <>
+void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtps::rtps::ReaderDiscoveryInfo>(
+        const eprosima::fastrtps::rtps::ReaderDiscoveryInfo& reader_info)
+{
+    switch (reader_info.status)
+    {
+        case eprosima::fastrtps::rtps::ReaderDiscoveryInfo::CHANGED_QOS_READER:
+        {
+            return;
+        }
+        case eprosima::fastrtps::rtps::ReaderDiscoveryInfo::DISCOVERED_READER:
+        {
+            const std::string topic_name = reader_info.info.topicName().to_string();
+            const std::string type_name = reader_info.info.typeName().to_string();
+
+            graphManager_from_->add_datareader(reader_info.info.guid(), topic_name, type_name,
+                iHandle2GUID(reader_info.info.RTPSParticipantKey()), reader_info.info.m_qos);
+            break;
+        }
+        default:
+        {
+            graphManager_from_->remove_datareader(reader_info.info.guid());
+            break;
+        }
+    }
+}
+
+template <>
+void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtps::rtps::WriterDiscoveryInfo>(
+        const eprosima::fastrtps::rtps::WriterDiscoveryInfo& writer_info)
+{
+    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();
+
+            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;
+        }
+    }
+}
+
+void GraphManager::ParticipantListener::on_subscriber_discovery(
+        eprosima::fastdds::dds::DomainParticipant* /*participant*/,
+        eprosima::fastrtps::rtps::ReaderDiscoveryInfo&& info)
+{
+    process_discovery_info<eprosima::fastrtps::rtps::ReaderDiscoveryInfo>(info);
+    // graphManager_from_->associate_entity(info.info.guid(), participant, dds::xrce::OBJK_DATAREADER);
+}
+
+void GraphManager::ParticipantListener::on_publisher_discovery(
+        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);
+}
+
+GraphManager::DatareaderListener::DatareaderListener(
+        GraphManager* graph_manager)
+    : eprosima::fastdds::dds::DataReaderListener()
+    , graphManager_from_(graph_manager)
+{
+}
+
+void GraphManager::DatareaderListener::on_data_available(
+        eprosima::fastdds::dds::DataReader* /*sub*/)
+{
+    graphManager_from_->update_node_entities_info();
+}
+
+}  // namespace graph_manager
+}  // namespace agent
+}  // namespace uros
+
+#endif  // _UROS_AGENT_GRAPH_MANAGER_CPP
@@ -0,0 +1,211 @@
+// Copyright 2020 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.
+
+#ifndef UROS_AGENT_GRAPH_PARTICIPANTS_TYPESUPPORT_CPP_
+#define UROS_AGENT_GRAPH_PARTICIPANTS_TYPESUPPORT_CPP_
+
+#include <agent/graph_manager/graph_typesupport.hpp>
+
+namespace uros {
+namespace agent {
+namespace graph_manager {
+
+ParticipantEntitiesInfoTypeSupport::ParticipantEntitiesInfoTypeSupport()
+    : TopicDataType()
+{
+    type_support_ = rosidl_typesupport_cpp::get_message_type_support_handle<
+        rmw_dds_common::msg::ParticipantEntitiesInfo>();
+    type_support_ = get_message_typesupport_handle(type_support_,
+        "rosidl_typesupport_fastrtps_cpp");
+    callbacks_ = static_cast<const message_type_support_callbacks_t *>(type_support_->data);
+
+    std::ostringstream ss;
+    const std::string message_namespace(callbacks_->message_namespace_);
+    const std::string message_name(callbacks_->message_name_);
+
+    if (!message_namespace.empty())
+    {
+        ss << message_namespace << "::";
+    }
+    ss << "dds_::" << message_name << "_";
+    this->setName(ss.str().c_str());
+
+    bool full_bounded = true;
+    m_typeSize = 4 + callbacks_->max_serialized_size(full_bounded);
+}
+
+bool ParticipantEntitiesInfoTypeSupport::serialize(
+        void * data,
+        eprosima::fastrtps::rtps::SerializedPayload_t * payload)
+{
+    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);
+
+    scdr.serialize_encapsulation();
+    if (callbacks_->cdr_serialize(data, scdr))
+    {
+        payload->encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
+            CDR_BE : CDR_LE;
+        payload->length = static_cast<uint32_t>(scdr.getSerializedDataLength());
+        return true;
+    }
+    else
+    {
+        return false;
+    }
+}
+
+bool ParticipantEntitiesInfoTypeSupport::deserialize(
+        eprosima::fastrtps::rtps::SerializedPayload_t * payload,
+        void * data)
+{
+    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);
+
+    dcdr.read_encapsulation();
+    return callbacks_->cdr_deserialize(dcdr, data);
+}
+
+std::function<uint32_t()> ParticipantEntitiesInfoTypeSupport::getSerializedSizeProvider(
+        void * data)
+{
+    return [data, this]() -> uint32_t
+    {
+        return static_cast<uint32_t>(4 + callbacks_->get_serialized_size(data));
+    };
+}
+
+void * ParticipantEntitiesInfoTypeSupport::createData()
+{
+    return static_cast<void *>(nullptr);
+}
+
+void ParticipantEntitiesInfoTypeSupport::deleteData(
+        void * data)
+{
+    (void) data;
+}
+
+bool ParticipantEntitiesInfoTypeSupport::getKey(
+        void * data,
+        eprosima::fastrtps::rtps::InstanceHandle_t * handle,
+        bool force_md5)
+{
+    (void) data;
+    (void) handle;
+    (void) force_md5;
+    return m_isGetKeyDefined;
+}
+
+
+MicrorosGraphInfoTypeSupport::MicrorosGraphInfoTypeSupport()
+    : TopicDataType()
+{
+    type_support_ = rosidl_typesupport_cpp::get_message_type_support_handle<
+        micro_ros_msgs::msg::Graph>();
+    type_support_ = get_message_typesupport_handle(type_support_,
+        "rosidl_typesupport_fastrtps_cpp");
+    callbacks_ = static_cast<const message_type_support_callbacks_t *>(type_support_->data);
+
+    std::ostringstream ss;
+    const std::string message_namespace(callbacks_->message_namespace_);
+    const std::string message_name(callbacks_->message_name_);
+
+    if (!message_namespace.empty())
+    {
+        ss << message_namespace << "::";
+    }
+    ss << "dds_::" << message_name << "_";
+    this->setName(ss.str().c_str());
+
+    bool full_bounded = true;
+    m_typeSize = 4 + callbacks_->max_serialized_size(full_bounded);
+}
+
+bool MicrorosGraphInfoTypeSupport::serialize(
+        void * data,
+        eprosima::fastrtps::rtps::SerializedPayload_t * payload)
+{
+    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);
+
+    scdr.serialize_encapsulation();
+    if (callbacks_->cdr_serialize(data, scdr))
+    {
+        payload->encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
+            CDR_BE : CDR_LE;
+        payload->length = static_cast<uint32_t>(scdr.getSerializedDataLength());
+        return true;
+    }
+    else
+    {
+        return false;
+    }
+}
+
+bool MicrorosGraphInfoTypeSupport::deserialize(
+        eprosima::fastrtps::rtps::SerializedPayload_t * payload,
+        void * data)
+{
+    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);
+
+    dcdr.read_encapsulation();
+    return callbacks_->cdr_deserialize(dcdr, data);
+}
+
+std::function<uint32_t()> MicrorosGraphInfoTypeSupport::getSerializedSizeProvider(
+        void * data)
+{
+    return [data, this]() -> uint32_t
+    {
+        return static_cast<uint32_t>(4 + callbacks_->get_serialized_size(data));
+    };
+}
+
+void * MicrorosGraphInfoTypeSupport::createData()
+{
+    return static_cast<void *>(nullptr);
+}
+
+void MicrorosGraphInfoTypeSupport::deleteData(
+        void * data)
+{
+    (void) data;
+}
+
+bool MicrorosGraphInfoTypeSupport::getKey(
+        void * data,
+        eprosima::fastrtps::rtps::InstanceHandle_t * handle,
+        bool force_md5)
+{
+    (void) data;
+    (void) handle;
+    (void) force_md5;
+    return m_isGetKeyDefined;
+}
+
+}  // namespace graph_manager
+}  // namespace agent
+}  // namespace uros
+
+#endif  // UROS_AGENT_GRAPH_PARTICIPANTS_TYPESUPPORT_CPP_
@@ -0,0 +1,191 @@
+// Copyright 2020 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.
+
+#ifndef UROS_AGENT_UTILS_DEMANGLE_CPP_
+#define UROS_AGENT_UTILS_DEMANGLE_CPP_
+
+#include <algorithm>
+#include <string>
+#include <vector>
+
+#include <rcpputils/find_and_replace.hpp>
+#include <rcutils/logging_macros.h>
+#include <rcutils/types.h>
+
+#include <rmw_fastrtps_shared_cpp/namespace_prefix.hpp>
+
+#include <agent/utils/demangle.hpp>
+
+namespace uros {
+namespace agent {
+namespace utils {
+
+std::string Demangle::demangle_if_ros_topic(
+        const std::string& topic_name)
+{
+    return _strip_ros_prefix_if_exists(topic_name);
+}
+
+std::string Demangle::demangle_if_ros_type(
+        const std::string& dds_type_string)
+{
+    if ('_' != dds_type_string[dds_type_string.size() - 1])
+    {
+        // not a ROS type
+        return dds_type_string;
+    }
+
+    const std::string dds_prefix("dds_::");
+    size_t dds_prefix_pos = dds_type_string.find(dds_prefix);
+    if (std::string::npos == dds_prefix_pos)
+    {
+        // not a ROS type
+        return dds_type_string;
+    }
+
+    std::string type_namespace = dds_type_string.substr(0, dds_prefix_pos);
+    type_namespace = rcpputils::find_and_replace(type_namespace, "::", "/");
+    size_t start = dds_prefix_pos + dds_prefix.size();
+    const std::string type_name =
+        dds_type_string.substr(start, dds_type_string.length() - start - 1);
+    return type_namespace + type_name;
+}
+
+std::string Demangle::demangle_ros_topic_from_topic(
+        const std::string& topic_name)
+{
+    return _resolve_prefix(topic_name, ros_topic_prefix);
+}
+
+std::string Demangle::_demangle_service_from_topic(
+        const std::string& prefix,
+        const std::string& topic_name,
+        const std::string& suffix)
+{
+    const std::string service_name = _resolve_prefix(topic_name, prefix);
+    if (service_name.empty())
+    {
+        return std::string();
+    }
+
+    size_t suffix_position = service_name.rfind(suffix);
+    if (std::string::npos == suffix_position)
+    {
+        RCUTILS_LOG_WARN_NAMED(
+            "rmw_fastrtps_shared_cpp",
+            "service topic has prefix but no suffix; report this: '%s'",
+            topic_name.c_str());
+        return std::string();
+    }
+    else
+    {
+        if (0 != (service_name.length() - suffix_position - suffix.length()))
+        {
+            RCUTILS_LOG_WARN_NAMED(
+                "rmw_fastrtps_shared_cpp",
+                "service topic has service prefix and a suffix"
+                ", but not at the end; report this: '%s'",
+                topic_name.c_str());
+            return std::string();
+        }
+    }
+    return service_name.substr(0, suffix_position);
+}
+
+std::string Demangle::demangle_service_from_topic(
+        const std::string& topic_name)
+{
+    const std::string demangled_topic = demangle_service_reply_from_topic(topic_name);
+
+    if (!demangled_topic.empty())
+    {
+        return demangled_topic;
+    }
+    return demangle_service_request_from_topic(topic_name);
+}
+
+std::string Demangle::demangle_service_request_from_topic(
+        const std::string& topic_name)
+{
+    return _demangle_service_from_topic(ros_service_requester_prefix, topic_name, "Request");
+}
+
+std::string Demangle::demangle_service_reply_from_topic(
+        const std::string& topic_name)
+{
+    return _demangle_service_from_topic(ros_service_response_prefix, topic_name, "Reply");
+}
+
+std::string Demangle::demangle_service_type_only(
+        const std::string& dds_type_name)
+{
+    const std::string dds_prefix("dds_::");
+    auto suffixes = {std::string("_Response_"), std::string("_Request_")};
+    size_t dds_prefix_pos = dds_type_name.find(dds_prefix);
+
+    // Perform checks
+    if (std::string::npos == dds_prefix_pos)
+    {
+        // not a ROS service type
+        return std::string();
+    }
+
+    size_t suffix_position = std::string::npos;
+    for (const auto& suffix : suffixes)
+    {
+        suffix_position = dds_type_name.rfind(suffix);
+        if (std::string::npos != suffix_position)
+        {
+            if (0 != (dds_type_name.length() - suffix_position - suffix.length()))
+            {
+                RCUTILS_LOG_WARN_NAMED(
+                    "rmw_fastrtps_shared_cpp",
+                    "service type contains 'dds_::' and a suffix"
+                    ", but not at the end; repor this: '%s'",
+                    dds_type_name.c_str());
+                continue;
+            }
+            break;
+        }
+    }
+    if (std::string::npos == suffix_position)
+    {
+        RCUTILS_LOG_WARN_NAMED(
+            "rmw_fastrtps_shared_cpp",
+            "service type contains 'dds_::' but"
+            " does not have a suffix; report this: '%s'",
+            dds_type_name.c_str());
+        return std::string();
+    }
+
+    // Everything is OK. Reformat it from '[type_namespace::]dds_::<type><suffix>'
+    // to '[type_namespace/]<type>'
+    std::string type_namespace = dds_type_name.substr(0, dds_prefix_pos);
+    type_namespace = rcpputils::find_and_replace(type_namespace, "::", "/");
+    size_t start = dds_prefix_pos + dds_prefix.length();
+    const std::string type_name = dds_type_name.substr(start, suffix_position - start);
+    return type_namespace + type_name;
+}
+
+std::string Demangle::identity_demangle(
+        const std::string& name)
+{
+    return name;
+}
+
+}  // namespace utils
+}  // namespace agent
+}  // namespace uros
+
+#endif  // UROS_AGENT_UTILS_DEMANGLE_CPP_
@@ -12,76 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.

-#include <uxr/agent/utils/CLI.hpp>
-#include <csignal>
+#include <agent/Agent.hpp>

 int main(int argc, char** argv)
 {
-#ifndef _WIN32
-    sigset_t signals;
-    sigemptyset(&signals);
-    if(sigaddset(&signals, SIGINT) && sigaddset(&signals, SIGTERM))
-    {
-        std::cerr << "Wrong signalset" << std::endl;
-        std::exit(EXIT_FAILURE);
-    }
-    sigprocmask( SIG_BLOCK, &signals, nullptr );
-#endif
+    uros::agent::Agent micro_ros_agent;

-
-    /* CLI application. */
-    CLI::App app("micro-ROS Agent");
-    app.require_subcommand(1, 1);
-    app.get_formatter()->column_width(42);
-
-    /* CLI subcommands. */
-    eprosima::uxr::cli::UDPv4Subcommand udpv4_subcommand(app);
-    eprosima::uxr::cli::UDPv6Subcommand udpv6_subcommand(app);
-    eprosima::uxr::cli::TCPv4Subcommand tcpv4_subcommand(app);
-    eprosima::uxr::cli::TCPv6Subcommand tcpv6_subcommand(app);
-#ifndef _WIN32
-    eprosima::uxr::cli::TermiosSubcommand serial_subcommand(app);
-    eprosima::uxr::cli::PseudoTerminalSubcommand pseudo_serial_subcommand(app);
-#endif
-    eprosima::uxr::cli::ExitSubcommand exit_subcommand(app);
-
-    /* CLI parse. */
-    std::string cli_input{};
-    for (int i = 1; i < argc; ++i)
+    if (!micro_ros_agent.create(argc, argv))
    {
-        cli_input.append(argv[i]);
-        cli_input.append(" ");
+        return 1;
    }
+    micro_ros_agent.run();

-    while (true)
-    {
-        try
-        {
-            app.parse(cli_input);
-            break;
-        }
-        catch (const CLI::ParseError& e)
-        {
-            app.exit(e);
-            std::cin.clear();
-            std::cout << std::endl;
-            std::cout << "Enter command: ";
-            std::getline(std::cin, cli_input);
-        }
-    }
-
-#ifdef  _WIN32
-    /* Waiting until exit. */
-    std::cin.clear();
-    char exit_flag = 0;
-    while ('q' != exit_flag)
-    {
-        std::cin >> exit_flag;
-    }
-#else
-    /* Wait for SIGTERM/SIGINT instead, as reading from stdin may be redirected to /dev/null. */
-    int n_signal = 0;
-    sigwait(&signals, &n_signal);
-#endif
    return 0;
 }
Author	SHA1	Message	Date
Jose Antonio Moral	e9330bf974	Create graph manager after checking passed CLI arguments and launch xrce-dds server (#41 )	2020-12-02 16:51:22 +01:00
Jose Antonio Moral	602976b45f	micro_ros_msgs has its own repository now (#40 ) * micro_ros_msgs has its own repository now * Update CI * Update CI * Fix CI order * Error in YAML file * Source ROS2 * Add rosdep update * Fix	2020-12-01 11:58:57 +01:00
Jose Antonio MoralandPablo Garrido	23bcea8efb	Feature/graph manager (#38 ) * Initial changes * Working state * Working state * Working state * Working state * Working state * Working state * Added graph listener * Updates * Testing name demangling * Graph manager: reworked * Remove debug trace * Treat errors when freeing rcutils resources * Improve logics for discovering entities * Working state: Micro-ROS graph manager * Fix micro_ros_graph_info typesupport type name * Remove double CMakeLists comment * Remove package.xml commented block * Add missing include * Added CI * Remove GUID_t param from callbacks signature * Add services names and types to micro-ROS graph topic * Differenciate between service server and clients * remove debug traces Co-authored-by: Pablo Garrido <pablogs9@gmail.com>	2020-11-26 07:44:52 +01:00
Pablo Garrido	dce3c25a33	Update README.md	2020-08-06 08:04:37 +02:00
Jose Antonio Moral	8bbe143d11	Refactor micro-ROS-Agent to use new singleton class (#34 )	2020-08-04 12:41:39 +02:00
Pablo Garrido	81316109d9	Add licensing (#31 ) * Add licensing * Update * Update	2020-08-04 11:24:10 +02:00
Pablo Garrido	b7406c4b34	Update CMakeLists.txt	2020-07-22 08:00:40 +02:00
Pablo Garrido	85ef5321f8	Feature/foxy migration (#30 ) * Adding rosidl_cmake * Updated XML generation * Updated readme * Update README.md	2020-06-29 10:22:23 +02:00