2.0.2

Update changelog
Update CI (backport #135 ) (#140 )
2026-09-06 18:05:17 +02:00 · 2022-05-25 09:09:00 +02:00 · 2022-05-25 09:08:51 +02:00 · 2022-05-23 07:56:31 +02:00 · 2022-04-19 14:54:01 +02:00 · 2022-03-25 11:12:48 +01:00
11 changed files with 270 additions and 384 deletions
@@ -12,7 +12,7 @@ assignees: ''
 - Hardware description: <!-- hardware where you are using micro-ROS -->
 - RTOS: <!-- RTOS where you are using micro-ROS -->
 - Installation type: <!-- micro_ros_setup, modules, etc  -->
- Version or commit hash: <!-- version of micro-ROS used: humble, jazzy, kilted, rolling  -->
+- Version or commit hash: <!-- version of micro-ROS used: foxy, rolling  -->

 #### Steps to reproduce the issue
 <!-- Detailed instructions on how to reliably reproduce this issue http://sscce.org/-->
@@ -3,27 +3,27 @@ name: CI micro-ROS Agent
 on:
    pull_request:
      branches:
-        - 'kilted'
+        - 'galactic'
    schedule:
      - cron: '33 6 * * *'

 jobs:

    microros_agent_ci:
-      runs-on: ${{ matrix.os }}
+      runs-on: ubuntu-20.04
      strategy:
        fail-fast: false
        matrix:
-          os: [ ubuntu-latest ]
-          ros_distribution: [ kilted ]
+          os: [ ubuntu-20.04 ]
+          ros_distribution: [ galactic ]
          include:
-            - docker_image: ubuntu:24.04
-              ros_distribution: kilted
+            - docker_image: ubuntu:20.04
+              ros_distribution: galactic
      container:
-        image: ${{ matrix.docker_image }}
+        image: ubuntu:20.04
      steps:
-      - uses: actions/checkout@v4
-      - uses: ros-tooling/setup-ros@0.7.13
+      - uses: actions/checkout@v2
+      - uses: ros-tooling/setup-ros@0.3.2
        with:
          use-ros2-testing: false
          required-ros-distributions: ${{ matrix.ros_distribution }}
@@ -31,7 +31,8 @@ jobs:
        run: |
          apt-get install ros-${{ matrix.ros_distribution }}-micro-ros-msgs
          apt-get install ros-${{ matrix.ros_distribution }}-rmw-fastrtps-cpp
-      - uses : ros-tooling/action-ros-ci@0.4.3
+      - uses : ros-tooling/action-ros-ci@0.2.5
        with:
          package-name: "micro_ros_agent"
          target-ros2-distro: ${{ matrix.ros_distribution }}
+
@@ -2,53 +2,20 @@
 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)
+2.0.2 (2022-05-25)
 ------------------

-3.0.1 (2022-03-25)
+2.0.1 (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>`_)
+* Add services to graph manager (`#127 <https://github.com/micro-ROS/micro-ROS-Agent/issues/127>`_)
+* Add used missing includes (`#116 <https://github.com/micro-ROS/micro-ROS-Agent/issues/116>`_) (`#125 <https://github.com/micro-ROS/micro-ROS-Agent/issues/125>`_)
+* Add system logger flag (`#118 <https://github.com/micro-ROS/micro-ROS-Agent/issues/118>`_)
+* Add condition variable include (`#113 <https://github.com/micro-ROS/micro-ROS-Agent/issues/113>`_)
+* pass system name to xrceagent (`#110 <https://github.com/micro-ROS/micro-ROS-Agent/issues/110>`_)
+* Fix memory leak in FastDDS datawriter (`#107 <https://github.com/micro-ROS/micro-ROS-Agent/issues/107>`_)
+* Contributors: Antonio Cuadros, Pablo Garrido, Roland Schwan, mergify[bot]

-3.0.0 (2021-09-13)
------------------
-
-1.0.1 (2021-09-13)
+2.0.0 (2021-09-13)
 ------------------
 * Remove XRCE dependency and add superbuild (`#97 <https://github.com/micro-ROS/micro-ROS-Agent/issues/97>`_)
 * Fixed launch file by using a list for arguments. Ensures order of items is kept. (`#93 <https://github.com/micro-ROS/micro-ROS-Agent/issues/93>`_) (`#94 <https://github.com/micro-ROS/micro-ROS-Agent/issues/94>`_)
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.

-cmake_minimum_required(VERSION 3.11)
+cmake_minimum_required(VERSION 3.5)

 option(UROSAGENT_GENERATE_PROFILE
  "Generates agent.refs according to the .msgs provided in the .repos" OFF
@@ -34,7 +34,8 @@ find_package(ament_cmake REQUIRED)
 find_package(microxrcedds_agent REQUIRED)
 find_package(rosidl_cmake REQUIRED)
 find_package(fastcdr REQUIRED)
-find_package(fastdds REQUIRED)
+find_package(fastrtps REQUIRED)
+find_package(fastrtps_cmake_module REQUIRED)
 find_package(rmw_dds_common REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rcutils REQUIRED)
@@ -62,21 +63,22 @@ target_include_directories(${PROJECT_NAME}
    include
  )

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

 target_link_libraries(${PROJECT_NAME}
  microxrcedds_agent
  fastcdr
-  fastdds
+  fastrtps
  $<$<BOOL:$<PLATFORM_ID:Linux>>:rt>
  $<$<BOOL:$<PLATFORM_ID:Linux>>:dl>
  )
@@ -20,13 +20,13 @@ enable_language(C)
 enable_language(CXX)

 unset(xrceagent_DIR CACHE)
-find_package(xrceagent 3 EXACT QUIET)
+find_package(xrceagent 2 EXACT QUIET)
 if(NOT xrceagent_FOUND)
    ExternalProject_Add(xrceagent
            GIT_REPOSITORY
                https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
            GIT_TAG
-                v3.0.1
+                ros2
            PREFIX
                ${PROJECT_BINARY_DIR}/agent
            INSTALL_DIR
@@ -15,25 +15,28 @@
 #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 "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/Publisher.hpp>
-#include <fastdds/dds/publisher/PublisherListener.hpp>
 #include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
+#include <fastdds/dds/publisher/Publisher.hpp>
 #include <fastdds/dds/subscriber/DataReader.hpp>
-#include <fastdds/dds/subscriber/DataReaderListener.hpp>
 #include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
 #include <fastdds/dds/subscriber/SampleInfo.hpp>
 #include <fastdds/dds/subscriber/Subscriber.hpp>
-#include <fastdds/rtps/common/MatchingInfo.hpp>
+#include <fastdds/dds/subscriber/DataReaderListener.hpp>

 #include "rmw/types.h"
 #include "rmw/names_and_types.h"
@@ -62,7 +65,6 @@
 #include <string>
 #include <memory>
 #include <map>
-#include <thread>

 namespace uros {
 namespace agent {
@@ -109,12 +111,6 @@ public:
        const eprosima::fastdds::dds::DomainParticipant* participant,
        bool from_microros = true);

-    /**
-     * @brief   Getter for the graph cache.
-     * @return  Reference to inner graph cache
-     */
-    rmw_dds_common::GraphCache& get_graph_cache() { return graphCache_; }
-
    /**
     * @brief   Adds a DDS datawriter to the graph tree.
     * @param   datawriter_guid rtps::GUID_t of the datawriter to be added.
@@ -122,7 +118,7 @@ public:
     * @param   datawriter Pointer to the datawriter to be added.
     */
    void add_datawriter(
-            const eprosima::fastdds::rtps::GUID_t& datawriter_guid,
+            const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
            const eprosima::fastdds::dds::DomainParticipant* participant,
            const eprosima::fastdds::dds::DataWriter* datawriter);

@@ -135,10 +131,10 @@ public:
     * @param   writer_qos QOS of the datawriter to be included into the graph tree.
     */
    void add_datawriter(
-            const eprosima::fastdds::rtps::GUID_t& datawriter_guid,
+            const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
            const std::string& topic_name,
            const std::string& type_name,
-            const eprosima::fastdds::rtps::GUID_t& participant_guid,
+            const eprosima::fastrtps::rtps::GUID_t& participant_guid,
            const eprosima::fastdds::dds::DataWriterQos& writer_qos);

    /**
@@ -146,7 +142,7 @@ public:
     * @param   datawriter_guid rtps::GUID_t of the datawriter to be removed.
     */
    void remove_datawriter(
-            const eprosima::fastdds::rtps::GUID_t& datawriter_guid);
+            const eprosima::fastrtps::rtps::GUID_t& datawriter_guid);

    /**
     * @brief   Adds a DDS datareader to the graph tree.
@@ -155,7 +151,7 @@ public:
     * @param   datareader Pointer to the datareader to be added.
     */
    void add_datareader(
-            const eprosima::fastdds::rtps::GUID_t& datareader_guid,
+            const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
            const eprosima::fastdds::dds::DomainParticipant* participant,
            const eprosima::fastdds::dds::DataReader* datareader);

@@ -165,13 +161,13 @@ public:
     * @param   topic_name Name of the topic to which the datareader sends information to.
     * @param   type_name Type name of the sent topic.
     * @param   participant_guid rtps::GUID_t of the participant which owns this datareader.
-     * @param   reader_qos QOS of the datareader to be included into the graph tree.
+     * @param   writer_qos QOS of the datareader to be included into the graph tree.
     */
    void add_datareader(
-            const eprosima::fastdds::rtps::GUID_t& datareader_guid,
+            const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
            const std::string& topic_name,
            const std::string& type_name,
-            const eprosima::fastdds::rtps::GUID_t& participant_guid,
+            const eprosima::fastrtps::rtps::GUID_t& participant_guid,
            const eprosima::fastdds::dds::DataReaderQos& reader_qos);

    /**
@@ -179,7 +175,7 @@ public:
     * @param   datareader_guid rtps::GUID_t of the datareader to be removed.
     */
    void remove_datareader(
-            const  eprosima::fastdds::rtps::GUID_t& datareader_guid);
+            const  eprosima::fastrtps::rtps::GUID_t& datareader_guid);

    /**
     * @brief   Associates a certain DDS entity with a provided participant.
@@ -188,7 +184,7 @@ public:
     * @param   entity_kind Kind of the DDS entity.
     */
    void associate_entity(
-            const eprosima::fastdds::rtps::GUID_t& entity_guid,
+            const eprosima::fastrtps::rtps::GUID_t& entity_guid,
            const eprosima::fastdds::dds::DomainParticipant* participant,
            const dds::xrce::ObjectKind& entity_kind);

@@ -209,28 +205,21 @@ private:
                GraphManager* graph_manager);
    private:

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

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

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

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

        GraphManager* graphManager_from_;
    };
@@ -310,7 +299,7 @@ private:
    // Store a auxiliary publishers and datawriter for each participant created in micro-ROS
    std::map<
        const eprosima::fastdds::dds::DomainParticipant*,
-        eprosima::fastdds::dds::DataWriter*
+        std::unique_ptr<eprosima::fastdds::dds::DataWriter>
    > micro_ros_graph_datawriters_;
 };

@@ -15,16 +15,18 @@
 #ifndef UROS_AGENT_GRAPH_PARTICIPANTS_TYPESUPPORT_HPP_
 #define UROS_AGENT_GRAPH_PARTICIPANTS_TYPESUPPORT_HPP_

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

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

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

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

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

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

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

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

 private:

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

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

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

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

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

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

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

 private:

@@ -2,10 +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>6.1.0</version>
+  <version>2.0.2</version>
  <description>micro-ROS Agent package</description>
-  <maintainer email="eugeniocollado@eprosima.com">Eugenio Collado</maintainer>
-  <maintainer email="carlosespinoza@eprosima.com">Carlos Espinoza</maintainer>
+  <maintainer email="pablogarrido@eprosima.com">Pablo Garrido</maintainer>
+  <maintainer email="antoniocuadros@eprosima.com">Antonio Cuadros</maintainer>
  <license>Apache License 2.0</license>

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

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

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

@@ -179,10 +179,10 @@ bool Agent::create(
                    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 =
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
                    datareader->get_instance_handle();
-                const eprosima::fastdds::rtps::GUID_t datareader_guid =
-                    eprosima::fastdds::rtps::iHandle2GUID(instance_handle);
+                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
                graph_manager_->add_datareader(datareader_guid, participant, datareader);
                graph_manager_->associate_entity(
                    datareader_guid, participant, dds::xrce::OBJK_DATAREADER);
@@ -209,10 +209,10 @@ bool Agent::create(
                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 =
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
                    datareader->get_instance_handle();
-                const eprosima::fastdds::rtps::GUID_t datareader_guid =
-                    eprosima::fastdds::rtps::iHandle2GUID(instance_handle);
+                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
                graph_manager_->remove_datareader(datareader_guid);
            });

@@ -240,10 +240,10 @@ bool Agent::create(
                    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 =
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
                    datareader->get_instance_handle();
-                const eprosima::fastdds::rtps::GUID_t datareader_guid =
-                    eprosima::fastdds::rtps::iHandle2GUID(instance_handle);
+                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
                graph_manager_->add_datareader(datareader_guid, participant, datareader);
                graph_manager_->associate_entity(
                    datareader_guid, participant, dds::xrce::OBJK_DATAREADER);
@@ -270,10 +270,10 @@ bool Agent::create(
                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 =
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
                    datareader->get_instance_handle();
-                const eprosima::fastdds::rtps::GUID_t datareader_guid =
-                    eprosima::fastdds::rtps::iHandle2GUID(instance_handle);
+                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
                graph_manager_->remove_datareader(datareader_guid);
            });

@@ -16,9 +16,6 @@
 #define _UROS_AGENT_GRAPH_MANAGER_CPP

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

 #include <memory>
 #include <string>
@@ -57,9 +54,9 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)

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

    eprosima::fastdds::dds::StatusMask par_mask = eprosima::fastdds::dds::StatusMask::none();
    participant_.reset(eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->
@@ -94,7 +91,7 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
        eprosima::fastdds::dds::HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
    datawriter_qos_.history().depth = 1;
    datawriter_qos_.endpoint().history_memory_policy =
-        eprosima::fastdds::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+        eprosima::fastrtps::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
    datawriter_qos_.publish_mode().kind =
        eprosima::fastdds::dds::PublishModeQosPolicyKind::ASYNCHRONOUS_PUBLISH_MODE;
    datawriter_qos_.reliability().kind =
@@ -116,7 +113,7 @@ 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::fastdds::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+        eprosima::fastrtps::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
    datareader_qos.reliability().kind =
        eprosima::fastdds::dds::ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
    datareader_qos.durability().kind =
@@ -128,11 +125,9 @@ 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();
    });

@@ -149,7 +144,6 @@ inline void GraphManager::publish_microros_graph()
            {
                return this->graph_changed_;
            });
-            graph_changed_ = false;
        }

        if (display_on_change_)
@@ -157,6 +151,7 @@ inline void GraphManager::publish_microros_graph()
            std::cout << "Updated uros Graph: graph changed" << std::endl;
            std::cout << graphCache_ << std::endl;
        }
+        graph_changed_ = false;

        micro_ros_msgs::msg::Graph graph_message;

@@ -325,10 +320,11 @@ void GraphManager::add_participant(
        if (it == micro_ros_graph_datawriters_.end())
        {
            // Create datawriter
-            eprosima::fastdds::dds::DataWriter * datawriter = publisher_->create_datawriter(ros_discovery_topic_.get(), datawriter_qos_);
+            std::unique_ptr<eprosima::fastdds::dds::DataWriter> datawriter;
+            datawriter.reset(publisher_->create_datawriter(ros_discovery_topic_.get(), datawriter_qos_));

            it = micro_ros_graph_datawriters_.insert(
-                std::make_pair(participant, datawriter)).first;
+                std::make_pair(participant, std::move(datawriter))).first;
        }

        it->second->write(static_cast<void *>(&info));
@@ -348,13 +344,12 @@ void GraphManager::remove_participant(
        rmw_dds_common::convert_gid_to_msg(&gid, &info.gid);
        auto it = micro_ros_graph_datawriters_.find(participant);
        it->second->write(static_cast<void *>(&info));
-        publisher_->delete_datawriter(it->second);
-        micro_ros_graph_datawriters_.erase(participant);
    }
+    micro_ros_graph_datawriters_.erase(participant);
 }

 void GraphManager::add_datawriter(
-        const eprosima::fastdds::rtps::GUID_t& datawriter_guid,
+        const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
        const eprosima::fastdds::dds::DomainParticipant* participant,
        const eprosima::fastdds::dds::DataWriter* datawriter)
 {
@@ -365,10 +360,10 @@ void GraphManager::add_datawriter(
 }

 void GraphManager::add_datawriter(
-        const eprosima::fastdds::rtps::GUID_t& datawriter_guid,
+        const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
        const std::string& topic_name,
        const std::string& type_name,
-        const eprosima::fastdds::rtps::GUID_t& participant_guid,
+        const eprosima::fastrtps::rtps::GUID_t& participant_guid,
        const eprosima::fastdds::dds::DataWriterQos& writer_qos)
 {
    const rmw_gid_t datawriter_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
@@ -377,12 +372,12 @@ void GraphManager::add_datawriter(
        "rmw_fastrtps_cpp", participant_guid);
    const rmw_qos_profile_t qos_profile = fastdds_qos_to_rmw_qos(writer_qos);

-    graphCache_.add_entity(datawriter_gid, topic_name, type_name,
-        rosidl_get_zero_initialized_type_hash(), participant_gid, qos_profile, false);
+    graphCache_.add_entity(datawriter_gid, topic_name,
+        type_name, participant_gid, qos_profile, false);
 }

 void GraphManager::remove_datawriter(
-        const eprosima::fastdds::rtps::GUID_t& datawriter_guid)
+        const eprosima::fastrtps::rtps::GUID_t& datawriter_guid)
 {
    const rmw_gid_t datawriter_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
        "rmw_fastrtps_cpp", datawriter_guid);
@@ -391,7 +386,7 @@ void GraphManager::remove_datawriter(
 }

 void GraphManager::add_datareader(
-        const eprosima::fastdds::rtps::GUID_t& datareader_guid,
+        const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
        const eprosima::fastdds::dds::DomainParticipant* participant,
        const eprosima::fastdds::dds::DataReader* datareader)
 {
@@ -402,10 +397,10 @@ void GraphManager::add_datareader(
 }

 void GraphManager::add_datareader(
-        const eprosima::fastdds::rtps::GUID_t& datareader_guid,
+        const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
        const std::string& topic_name,
        const std::string& type_name,
-        const eprosima::fastdds::rtps::GUID_t& participant_guid,
+        const eprosima::fastrtps::rtps::GUID_t& participant_guid,
        const eprosima::fastdds::dds::DataReaderQos& reader_qos)
 {
    const rmw_gid_t datareader_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
@@ -414,17 +409,12 @@ void GraphManager::add_datareader(
        "rmw_fastrtps_cpp", participant_guid);
    const rmw_qos_profile_t qos_profile = fastdds_qos_to_rmw_qos(reader_qos);

-    // TODO(acuadros95): Use typesupport to calculate type hash on micro-ROS and save and get it from reader_qos.user_data.
-    // Related PRs:
-    // https://github.com/ros2/rmw_dds_common/pull/70
-    // https://github.com/ros2/rmw_fastrtps/pull/671
-    // https://github.com/ros2/rmw_fastrtps/pull/680
-    graphCache_.add_entity(datareader_gid, topic_name, type_name,
-        rosidl_get_zero_initialized_type_hash(), participant_gid, qos_profile, true);
+    graphCache_.add_entity(datareader_gid, topic_name,
+        type_name, participant_gid, qos_profile, true);
 }

 void GraphManager::remove_datareader(
-        const eprosima::fastdds::rtps::GUID_t& datareader_guid)
+        const eprosima::fastrtps::rtps::GUID_t& datareader_guid)
 {
    const rmw_gid_t datareader_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
        "rmw_fastrtps_cpp", datareader_guid);
@@ -433,7 +423,7 @@ void GraphManager::remove_datareader(
 }

 void GraphManager::associate_entity(
-        const eprosima::fastdds::rtps::GUID_t& entity_guid,
+        const eprosima::fastrtps::rtps::GUID_t& entity_guid,
        const eprosima::fastdds::dds::DomainParticipant* participant,
        const dds::xrce::ObjectKind& entity_kind)
 {
@@ -553,7 +543,7 @@ void GraphManager::update_node_entities_info()
    rmw_dds_common::msg::ParticipantEntitiesInfo entities_info;
    eprosima::fastdds::dds::SampleInfo sample_info;
    if (ros_discovery_datareader_->take_next_sample(&entities_info, &sample_info) ==
-        eprosima::fastdds::dds::RETCODE_OK)
+        eprosima::fastrtps::types::ReturnCode_t::RETCODE_OK)
    {
        if (sample_info.instance_state == eprosima::fastdds::dds::InstanceStateKind::ALIVE_INSTANCE_STATE)
        {
@@ -608,18 +598,13 @@ GraphManager::ParticipantListener::ParticipantListener(

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

            if (map.end() == name_found)
@@ -629,15 +614,13 @@ void GraphManager::ParticipantListener::on_participant_discovery(
            const std::string enclave =
                std::string(name_found->second.begin(), name_found->second.end());

-            const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", info.guid);
-            graphManager_from_->get_graph_cache().add_participant(gid, enclave);
+            graphManager_from_->add_participant(participant, false, enclave);
            break;
        }
-        case eprosima::fastdds::rtps::ParticipantDiscoveryStatus::REMOVED_PARTICIPANT:
-        case eprosima::fastdds::rtps::ParticipantDiscoveryStatus::DROPPED_PARTICIPANT:
+        case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT:
+        case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DROPPED_PARTICIPANT:
        {
-            const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", info.guid);
-            graphManager_from_->get_graph_cache().remove_participant(gid);
+            graphManager_from_->remove_participant(participant, false);
            break;
        }
        default:
@@ -648,133 +631,117 @@ void GraphManager::ParticipantListener::on_participant_discovery(
 }

 static eprosima::fastdds::dds::DataWriterQos writer_qos_conversion(
-    const eprosima::fastdds::dds::PublicationBuiltinTopicData& writer_info)
+    const eprosima::fastdds::dds::WriterQos& writer_qos)
 {
    eprosima::fastdds::dds::DataWriterQos datawriter_qos;
-    eprosima::fastdds::dds::RTPSReliableWriterQos reliable_writer_qos;
-    reliable_writer_qos.disable_positive_acks = writer_info.disable_positive_acks;
-
-    datawriter_qos.durability(writer_info.durability);
-    datawriter_qos.durability_service(writer_info.durability_service);
-    datawriter_qos.deadline(writer_info.deadline);
-    datawriter_qos.latency_budget(writer_info.latency_budget);
-    datawriter_qos.liveliness(writer_info.liveliness);
-    datawriter_qos.reliability(writer_info.reliability);
-    datawriter_qos.lifespan(writer_info.lifespan);
-    datawriter_qos.user_data(writer_info.user_data);
-    datawriter_qos.ownership(writer_info.ownership);
-    datawriter_qos.ownership_strength(writer_info.ownership_strength);
-    datawriter_qos.destination_order(writer_info.destination_order);
-    datawriter_qos.reliable_writer_qos(reliable_writer_qos);
-    datawriter_qos.representation(writer_info.representation);
-    datawriter_qos.data_sharing(writer_info.data_sharing);
+    datawriter_qos.durability(writer_qos.m_durability);
+    datawriter_qos.durability_service(writer_qos.m_durabilityService);
+    datawriter_qos.deadline(writer_qos.m_deadline);
+    datawriter_qos.latency_budget(writer_qos.m_latencyBudget);
+    datawriter_qos.liveliness(writer_qos.m_liveliness);
+    datawriter_qos.reliability(writer_qos.m_reliability);
+    datawriter_qos.destination_order(writer_qos.m_destinationOrder);
+    datawriter_qos.lifespan(writer_qos.m_lifespan);
+    datawriter_qos.user_data(writer_qos.m_userData);
+    datawriter_qos.ownership(writer_qos.m_ownership);
+    datawriter_qos.ownership_strength(writer_qos.m_ownershipStrength);
+    datawriter_qos.publish_mode(writer_qos.m_publishMode);
+    datawriter_qos.representation(writer_qos.representation);
+    datawriter_qos.data_sharing(writer_qos.data_sharing);

    return datawriter_qos;
 }

 static eprosima::fastdds::dds::DataReaderQos reader_qos_conversion(
-    const eprosima::fastdds::rtps::SubscriptionBuiltinTopicData& reader_info)
+    const eprosima::fastdds::dds::ReaderQos& reader_qos)
 {
    eprosima::fastdds::dds::DataReaderQos datareader_qos;
-    eprosima::fastdds::dds::RTPSReliableReaderQos reliable_reader_qos;
-    reliable_reader_qos.disable_positive_acks = reader_info.disable_positive_acks;

-    datareader_qos.durability(reader_info.durability);
-    datareader_qos.deadline(reader_info.deadline);
-    datareader_qos.latency_budget(reader_info.latency_budget);
-    datareader_qos.lifespan(reader_info.lifespan);
-    datareader_qos.liveliness(reader_info.liveliness);
-    datareader_qos.reliability(reader_info.reliability);
-    datareader_qos.ownership(reader_info.ownership);
-    datareader_qos.destination_order(reader_info.destination_order);
-    datareader_qos.user_data(reader_info.user_data);
-    datareader_qos.time_based_filter(reader_info.time_based_filter);
-    datareader_qos.type_consistency(reader_info.type_consistency);
-    datareader_qos.reliable_reader_qos(reliable_reader_qos);
-    datareader_qos.representation(reader_info.representation);
-    datareader_qos.data_sharing(reader_info.data_sharing);
+    datareader_qos.durability(reader_qos.m_durability);
+    datareader_qos.deadline(reader_qos.m_deadline);
+    datareader_qos.latency_budget(reader_qos.m_latencyBudget);
+    datareader_qos.liveliness(reader_qos.m_liveliness);
+    datareader_qos.reliability(reader_qos.m_reliability);
+    datareader_qos.destination_order(reader_qos.m_destinationOrder);
+    datareader_qos.user_data(reader_qos.m_userData);
+    datareader_qos.ownership(reader_qos.m_ownership);
+    datareader_qos.time_based_filter(reader_qos.m_timeBasedFilter);
+    datareader_qos.lifespan(reader_qos.m_lifespan);
+    datareader_qos.durability_service(reader_qos.m_durabilityService);
+    eprosima::fastdds::dds::TypeConsistencyQos consistency;
+    consistency.type_consistency = reader_qos.type_consistency;
+    datareader_qos.type_consistency(consistency);
+    datareader_qos.data_sharing(reader_qos.data_sharing);

    return datareader_qos;
 }

 template <>
-void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastdds::rtps::ReaderDiscoveryStatus, eprosima::fastdds::rtps::SubscriptionBuiltinTopicData>(
-        eprosima::fastdds::rtps::ReaderDiscoveryStatus reason,
-        const eprosima::fastdds::rtps::SubscriptionBuiltinTopicData& reader_info)
+void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtps::rtps::ReaderDiscoveryInfo>(
+        const eprosima::fastrtps::rtps::ReaderDiscoveryInfo& reader_info)
 {
-    switch (reason)
+    switch (reader_info.status)
    {
-        case eprosima::fastdds::rtps::ReaderDiscoveryStatus::CHANGED_QOS_READER:
+        case eprosima::fastrtps::rtps::ReaderDiscoveryInfo::CHANGED_QOS_READER:
        {
            return;
        }
-        case eprosima::fastdds::rtps::ReaderDiscoveryStatus::DISCOVERED_READER:
+        case eprosima::fastrtps::rtps::ReaderDiscoveryInfo::DISCOVERED_READER:
        {
-            const std::string topic_name = reader_info.topic_name.to_string();
-            const std::string type_name = reader_info.type_name.to_string();
+            const std::string topic_name = reader_info.info.topicName().to_string();
+            const std::string type_name = reader_info.info.typeName().to_string();

-            graphManager_from_->add_datareader(reader_info.guid, topic_name, type_name,
-                reader_info.participant_guid, reader_qos_conversion(reader_info));
+            graphManager_from_->add_datareader(reader_info.info.guid(), topic_name, type_name,
+                iHandle2GUID(reader_info.info.RTPSParticipantKey()), reader_qos_conversion(reader_info.info.m_qos));
            break;
        }
        default:
        {
-            graphManager_from_->remove_datareader(reader_info.guid);
+            graphManager_from_->remove_datareader(reader_info.info.guid());
            break;
        }
    }
 }

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

-            graphManager_from_->add_datawriter(writer_info.guid, topic_name, type_name,
-                writer_info.participant_guid, writer_qos_conversion(writer_info));
+            graphManager_from_->add_datawriter(writer_info.info.guid(), topic_name, type_name,
+                iHandle2GUID(writer_info.info.RTPSParticipantKey()), writer_qos_conversion(writer_info.info.m_qos));
            break;
        }
        default:
        {
-            graphManager_from_->remove_datawriter(writer_info.guid);
+            graphManager_from_->remove_datawriter(writer_info.info.guid());
            break;
        }
    }
 }

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

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

 GraphManager::DatareaderListener::DatareaderListener(
@@ -41,30 +41,27 @@ ParticipantEntitiesInfoTypeSupport::ParticipantEntitiesInfoTypeSupport()
        ss << message_namespace << "::";
    }
    ss << "dds_::" << message_name << "_";
-    this->set_name(ss.str().c_str());
+    this->setName(ss.str().c_str());

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

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

    scdr.serialize_encapsulation();
    if (callbacks_->cdr_serialize(data, scdr))
    {
-        payload.encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
+        payload->encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
            CDR_BE : CDR_LE;
-        payload.length = static_cast<uint32_t>(scdr.get_serialized_data_length());
+        payload->length = static_cast<uint32_t>(scdr.getSerializedDataLength());
        return true;
    }
    else
@@ -74,58 +71,47 @@ bool ParticipantEntitiesInfoTypeSupport::serialize(
 }

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

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

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

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

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

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


@@ -147,30 +133,27 @@ MicrorosGraphInfoTypeSupport::MicrorosGraphInfoTypeSupport()
        ss << message_namespace << "::";
    }
    ss << "dds_::" << message_name << "_";
-    this->set_name(ss.str().c_str());
+    this->setName(ss.str().c_str());

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

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

    scdr.serialize_encapsulation();
    if (callbacks_->cdr_serialize(data, scdr))
    {
-        payload.encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
+        payload->encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
            CDR_BE : CDR_LE;
-        payload.length = static_cast<uint32_t>(scdr.get_serialized_data_length());
+        payload->length = static_cast<uint32_t>(scdr.getSerializedDataLength());
        return true;
    }
    else
@@ -180,58 +163,47 @@ bool MicrorosGraphInfoTypeSupport::serialize(
 }

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

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

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

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

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

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

 }  // namespace graph_manager
Author	SHA1	Message	Date
Pablo Garrido	6b99ec7298	2.0.2	2022-05-25 09:09:00 +02:00
Pablo Garrido	3263e694e4	Update changelog	2022-05-25 09:08:51 +02:00
mergify[bot]Antonio Cuadros acuadros95	3c5d31f2b0	Update CI (backport #135 ) (#140 ) * Humble release (#135) * Modify CI * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update .github/workflows/ci.yml * Update .github/workflows/ci.yml * Modify CI * Update to ubuntu latest * Use pre-release repository * Use ubuntu-20.04 * Fix * Revert changes Co-authored-by: Pablo Garrido <pablogs9@gmail.com> (cherry picked from commit `b0ebf5ab3f`) # Conflicts: # .github/workflows/ci.yml * Update with galactic * Update .github/workflows/ci.yml Co-authored-by: Antonio Cuadros <49162117+Acuadros95@users.noreply.github.com> Co-authored-by: acuadros95 <acuadros1995@gmail.com>	2022-05-23 07:56:31 +02:00
Antonio Cuadros	0d4fcf8547	Add snap issue to README (#131 )	2022-04-19 14:54:01 +02:00
Pablo Garrido	52b35ef2eb	2.0.1	2022-03-25 11:12:48 +01:00
Pablo Garrido	48f4905f42	Update changelog Signed-off-by: Pablo Garrido <pablogs9@gmail.com>	2022-03-25 11:12:41 +01:00
Pablo Garrido	6d67807737	Add services to graph manager (#127 ) Signed-off-by: Pablo Garrido <pablogs9@gmail.com>	2022-03-22 10:22:15 +01:00
mergify[bot]andPablo Garrido	ddefabfa8c	Add used missing includes (#116 ) (#125 ) * Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update CI Signed-off-by: Pablo Garrido <pablogs9@gmail.com> (cherry picked from commit `2326a201bc`) Co-authored-by: Pablo Garrido <pablogs9@gmail.com>	2022-03-17 08:47:18 +01:00
Antonio Cuadros	90545b7184	Add system logger flag (#118 ) * Add system logger flag * Add flag to superbuild	2022-01-27 15:09:30 +01:00
Pablo Garrido	07c460a327	Add condition variable include (#113 ) Signed-off-by: Pablo Garrido <pablogs9@gmail.com> Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com>	2022-01-14 08:16:58 +01:00
Roland Schwan	8aea206b93	pass system name to xrceagent (#110 )	2022-01-12 12:35:36 +01:00
Pablo Garrido	ff2ae91877	Fix memory leak in FastDDS datawriter (#107 ) Signed-off-by: Pablo Garrido <pablogs9@gmail.com>	2021-12-22 10:09:08 +01:00
Your Name	b89677ed96	2.0.0	2021-09-13 12:21:44 +02:00
Pablo Garrido	6f096337e5	Changelog	2021-09-13 12:21:33 +02:00
mergify[bot]andPablo Garrido	d2a7e319ca	Remove XRCE dependency and add superbuild (#97 ) (#98 ) Update package info Update Fix xrceagent paths Update Revert "Bump version" This reverts commit 7b6b713041405a21d701952ef1eb2e8faab2802e. Initial (cherry picked from commit `ceb1a1436c`) Co-authored-by: Pablo Garrido <pablogs9@gmail.com>	2021-09-13 10:48:56 +02:00
mergify[bot]andmecarill	7369137252	Fixed launch file by using a list for arguments. Ensures order of items is kept. (#93 ) (#95 ) Co-authored-by: mecarill <mihkailkennerley@gmail.com> (cherry picked from commit `fe1b3ade97`) Co-authored-by: mecarill <62688286+mecarill@users.noreply.github.com>	2021-08-25 09:14:07 +02:00
Antonio Cuadros	6cce230857	Modify CI branch (#92 )	2021-08-23 13:20:59 +02:00
mergify[bot]andPablo Garrido	256424b7ec	Fix graph manager datawriters behaviour (#84 ) (#85 ) * Fix graph manager datawriters Fixes Fix Fix destruction * Revert "Fix graph manager datawriters" This reverts commit `2847a2ebc3`. * Initial (cherry picked from commit `646ca52aab`) Co-authored-by: Pablo Garrido <pablogs9@gmail.com>	2021-07-09 13:41:31 +02:00
mergify[bot]andPablo Garrido	e43cde14ae	Graph manager: Fix participant mask for listener callbacks (#81 ) (#82 ) (cherry picked from commit `95fecd77ae`) Co-authored-by: Pablo Garrido <pablogs9@gmail.com>	2021-07-08 15:33:15 +02:00
mergify[bot]andPablo Garrido	a8caaa1b72	Fix agent launch (#78 ) (#80 ) Co-authored-by: Your Name <you@example.com> (cherry picked from commit `69f17c28a8`) Co-authored-by: Pablo Garrido <pablogs9@gmail.com>	2021-07-05 10:56:22 +02:00
mergify[bot]andPablo Garrido	ee955ed01e	Fix graph manager node namespaces (#75 ) (#77 ) * Fix graph manager node namespaces * Update (cherry picked from commit `f6a2aa3b60`) Co-authored-by: Pablo Garrido <pablogs9@gmail.com>	2021-07-02 13:42:25 +02:00
mergify[bot]andPablo Garrido	a313a088bd	Fix graph manager node namespaces (#72 ) (#74 ) (cherry picked from commit `a623308505`) Co-authored-by: Pablo Garrido <pablogs9@gmail.com>	2021-07-02 09:48:38 +02:00