Update graph destructor

* 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>

.github/workflows/ci.yml

@@ -9,7 +9,7 @@ jobs:
 
     microros_agent_ci:
         runs-on: ubuntu-20.04
-        container: microros/base:foxy
+        container: microros/base:rolling
 
         steps:
         - uses: actions/checkout@v2

micro_ros_agent/CMakeLists.txt

@@ -14,6 +14,9 @@
 
 cmake_minimum_required(VERSION 3.5)
 
+option(BUILD_SHARED_LIBS "Control shared/static building." ON)
+option(UBUILD_AGENT_EXECUTABLE "Control shared/static building." ON)
+
 option(UROSAGENT_GENERATE_PROFILE
   "Generates agent.refs according to the .msgs provided in the .repos" OFF
   )
@@ -41,15 +44,26 @@ find_package(ament_cmake_gtest REQUIRED)
 
 find_package(micro_ros_msgs REQUIRED)
 
-add_executable(${PROJECT_NAME}
+include(GNUInstallDirs)
-  src/main.cpp
+set(BIN_INSTALL_DIR     ${CMAKE_INSTALL_BINDIR}     CACHE PATH "Installation directory for binaries")
+set(INCLUDE_INSTALL_DIR ${CMAKE_INSTALL_INCLUDEDIR} CACHE PATH "Installation directory for C headers")
+set(LIB_INSTALL_DIR     ${CMAKE_INSTALL_LIBDIR}     CACHE PATH "Installation directory for libraries")
+set(DATA_INSTALL_DIR    ${CMAKE_INSTALL_DATADIR}    CACHE PATH "Installation directory for data")
+
+# Set source files
+set(SRCS
   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(${PROJECT_NAME}
+# Library
+add_library(${PROJECT_NAME} ${SRCS})
+
+target_include_directories(${PROJECT_NAME} BEFORE
+  PUBLIC
+    $<INSTALL_INTERFACE:${INCLUDE_INSTALL_DIR}>
   PRIVATE
     include
   )
@@ -74,27 +88,6 @@ target_link_libraries(${PROJECT_NAME}
   $<$<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(${PROJECT_NAME} PROPERTIES
-  CXX_STANDARD
-    14
-  CXX_STANDARD_REQUIRED
-    YES
-  )
-
-set_target_properties(${PROJECT_NAME} PROPERTIES
-  CXX_STANDARD
-    14
-  CXX_STANDARD_REQUIRED
-    YES
-  )
-
 target_compile_options(${PROJECT_NAME}
   PRIVATE
     $<$<OR:$<CXX_COMPILER_ID:GNU>,$<CXX_COMPILER_ID:Clang>>:-Wall>
@@ -102,24 +95,105 @@ target_compile_options(${PROJECT_NAME}
     $<$<OR:$<CXX_COMPILER_ID:GNU>,$<CXX_COMPILER_ID:Clang>>:-Wpedantic>
   )
 
+set_target_properties(${PROJECT_NAME} PROPERTIES
+  CXX_STANDARD
+    14
+  CXX_STANDARD_REQUIRED
+    YES
+  )
+
+# Install agent lib
+install(
+    TARGETS
+        ${PROJECT_NAME}
+    EXPORT
+        ${PROJECT_NAME}Targets
+    RUNTIME DESTINATION
+        ${BIN_INSTALL_DIR}
+    LIBRARY DESTINATION
+        ${LIB_INSTALL_DIR}
+    ARCHIVE DESTINATION
+        ${LIB_INSTALL_DIR}
+    COMPONENT
+        libraries
+    )
+
+# Install includes
+install(
+    DIRECTORY
+        ${PROJECT_SOURCE_DIR}/include/agent
+    DESTINATION
+        ${INCLUDE_INSTALL_DIR}
+    FILES_MATCHING
+        PATTERN "*.hpp"
+        PATTERN "*.h"
+    )
+
+# Export library
+install(
+  EXPORT
+      ${PROJECT_NAME}Targets
+  DESTINATION
+      ${DATA_INSTALL_DIR}/${PROJECT_NAME}/cmake
+  )
+
+# Package configuration
+include(CMakePackageConfigHelpers)
+
+configure_package_config_file(
+      ${PROJECT_SOURCE_DIR}/cmake/Config.cmake.in
+        ${PROJECT_BINARY_DIR}/cmake/config/${PROJECT_NAME}Config.cmake
+    INSTALL_DESTINATION
+        ${DATA_INSTALL_DIR}/${PROJECT_NAME}/cmake
+    PATH_VARS
+        BIN_INSTALL_DIR
+        INCLUDE_INSTALL_DIR
+        LIB_INSTALL_DIR
+        DATA_INSTALL_DIR
+    )
+
+install(
+  FILES
+      ${PROJECT_BINARY_DIR}/cmake/config/${PROJECT_NAME}Config.cmake
+  DESTINATION
+      ${DATA_INSTALL_DIR}/${PROJECT_NAME}/cmake
+  )
+
+if(UBUILD_AGENT_EXECUTABLE)
+  add_executable(micro_ros_agent_bin
+    ${SRCS}
+    src/main.cpp
+    )
+
+  target_include_directories(micro_ros_agent_bin
+    PRIVATE
+      $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+    )
+
+  target_link_libraries(micro_ros_agent_bin ${PROJECT_NAME})
+
+  set_target_properties(micro_ros_agent_bin
+      PROPERTIES OUTPUT_NAME ${PROJECT_NAME})
+
+  install(
+    TARGETS
+      micro_ros_agent_bin
+    DESTINATION
+      lib/${PROJECT_NAME}
+    )
+
+  install(
+    DIRECTORY
+      launch
+    DESTINATION
+      share/${PROJECT_NAME}
+    )
+endif()
+
 ament_export_dependencies(microxrcedds_agent)
 
 ament_package()
 
-install(
-  TARGETS
-    ${PROJECT_NAME}
-  DESTINATION
-    lib/${PROJECT_NAME}
-  )
-
-install(
-  DIRECTORY
-    launch
-  DESTINATION
-    share/${PROJECT_NAME}
-  )
-
 if(UROSAGENT_GENERATE_PROFILE)
   set(_OUTPUT_PATH "${CMAKE_CURRENT_BINARY_DIR}/python")
 

micro_ros_agent/include/agent/Agent.hpp

@@ -26,36 +26,27 @@ namespace agent {
 
 class Agent
 {
-public:
+private:
-
     Agent();
 
-    ~Agent() = default;
+    ~Agent()
-
-    /**
-     * @brief   Agent class shall not be copy constructible.
-     */
-    UXR_AGENT_EXPORT Agent(
-            const Agent &) = delete;
-
-    UXR_AGENT_EXPORT Agent(
-            Agent &&) = delete;
-
-    /**
-     * @brief   Agent class shall not be copy assignable.
-     */
-    UXR_AGENT_EXPORT Agent& operator =(
-            const Agent &) = delete;
-
-    UXR_AGENT_EXPORT Agent& operator =(
-            Agent &&) = delete;
-
-    static Agent& getInstance()
     {
-        static Agent instance;
+        stop();
-        return instance;
     }
     
+    Agent(const Agent &) = delete;
+
+    Agent(Agent &&) = delete;
+
+    Agent& operator =(
+            const Agent &) = delete;
+
+    Agent& operator =(
+            Agent &&) = delete;
+
+public:
+    static Agent& getInstance();
+
     bool create(
             int argc,
             char** argv);
@@ -64,71 +55,14 @@ public:
 
     void stop();
 
-    void add_callbacks();
-
 private:
+    bool initialized = false;
     eprosima::uxr::AgentInstance& xrce_dds_agent_instance_;
-    std::map<eprosima::fastdds::dds::DomainId_t, std::shared_ptr<graph_manager::GraphManager>> graph_manager_map_;
+    std::map<eprosima::fastdds::dds::DomainId_t, graph_manager::GraphManager> graph_manager_map_;
-    std::shared_ptr<graph_manager::GraphManager> find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id);
+
-    bool started = false;
+    graph_manager::GraphManager* find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id);
 };
 
-template<typename AgentType>
-class AgentAPI
-{
-public:
-    AgentAPI()
-    : agent_instance_(agent_instance_.getInstance())
-    {};
-
-    ~AgentAPI() = default;
-
-    void create(uint16_t port)
-	{
-		xrce_dds_agent_instance_API.configure(port);
-	}
-
-	void create(std::string dev, const std::string baudrate);
-	void create(std::vector<std::string> devs, const std::string baudrate);
-	void create(const std::string baudrate);
-
-    void set_verbose_level(uint8_t verbose_level)
-    {
-        xrce_dds_agent_instance_API.set_verbose_level(verbose_level);
-    }
-
-    void run()
-    {
-        agent_instance_.add_callbacks();
-        xrce_dds_agent_instance_API.run();
-    }
-
-    void stop()
-    {
-        xrce_dds_agent_instance_API.stop();
-    }
-
-private:
-    Agent& agent_instance_;
-    eprosima::uxr::AgentInstanceAPI<AgentType> xrce_dds_agent_instance_API;
-};
-
-template<> inline UXR_AGENT_EXPORT void AgentAPI<eprosima::uxr::TermiosAgent>::create(std::string dev, const std::string baudrate)
-{
-    xrce_dds_agent_instance_API.configure(dev, baudrate);
-}
-
-template<> inline UXR_AGENT_EXPORT void AgentAPI<eprosima::uxr::MultiTermiosAgent>::create(std::vector<std::string> devs, const std::string baudrate)
-{
-    xrce_dds_agent_instance_API.configure(devs, baudrate);
-
-}
-
-template<> inline UXR_AGENT_EXPORT void AgentAPI<eprosima::uxr::PseudoTerminalAgent>::create(const std::string baudrate)
-{
-    xrce_dds_agent_instance_API.configure(baudrate);
-}
-
 }  // namespace agent
 }  // namespace uros
 #endif  // _UROS_AGENT_AGENT_HPP

micro_ros_agent/include/agent/graph_manager/graph_manager.hpp

@@ -80,16 +80,29 @@ public:
     /**
      * @brief   Default destructor.
      */
-    ~GraphManager()
+    ~GraphManager() = default;
-    {
-        exit = true;
-        cv_.notify_one();
 
-        if (microros_graph_publisher_.joinable())
+	void stop()
-        {
+	{
-            microros_graph_publisher_.join();
+		if (microros_graph_publisher_.joinable())
-        }
+		{
-    }
+			exit = true;
+        	cv_.notify_one();
+			microros_graph_publisher_.join();
+		}
+
+        subscriber_->delete_datareader(ros_discovery_datareader_);
+		publisher_->delete_datawriter(ros_to_microros_graph_datawriter_);
+
+		participant_->delete_subscriber(subscriber_);
+		participant_->delete_publisher(publisher_);
+
+		// Delete topics
+		participant_->delete_topic(ros_discovery_topic_);
+		participant_->delete_topic(ros_to_microros_graph_topic_);
+
+		eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->delete_participant(participant_);
+	}
 
     /**
      * @brief   Implementation of the notification logic that updates the micro-ROS graph.
@@ -141,21 +154,6 @@ public:
             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.
@@ -189,21 +187,6 @@ public:
             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.
@@ -307,34 +290,34 @@ private:
             std::string& node_name,
             std::string& node_namespace);
 
-    bool exit = false;
     eprosima::fastdds::dds::DomainId_t domain_id_;
     bool graph_changed_;
     bool display_on_change_;
     std::thread microros_graph_publisher_;
     std::mutex mtx_;
     std::condition_variable cv_;
+    volatile bool exit = false;
 
     eprosima::fastdds::dds::DataWriterQos datawriter_qos_;
 
     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_;
+    ParticipantListener participant_listener_;
-    std::unique_ptr<eprosima::fastdds::dds::TypeSupport> microros_graph_info_typesupport_;
+    DatareaderListener datareader_listener_;
-    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_to_microros_graph_datawriter_;
-    std::unique_ptr<eprosima::fastdds::dds::DataReader> ros_discovery_datareader_;
 
+    eprosima::fastdds::dds::TypeSupport participant_info_typesupport_;
+    eprosima::fastdds::dds::TypeSupport microros_graph_info_typesupport_;
+    eprosima::fastdds::dds::DomainParticipant* participant_;
+    eprosima::fastdds::dds::Publisher* publisher_;
+    eprosima::fastdds::dds::Subscriber* subscriber_;
+    eprosima::fastdds::dds::Topic* ros_discovery_topic_;
+    eprosima::fastdds::dds::Topic* ros_to_microros_graph_topic_;
+    eprosima::fastdds::dds::DataWriter* ros_to_microros_graph_datawriter_;
+    eprosima::fastdds::dds::DataReader* ros_discovery_datareader_;
     // Store a auxiliary publishers and datawriter for each participant created in micro-ROS
     std::map<
         const eprosima::fastdds::dds::DomainParticipant*,
-        std::unique_ptr<eprosima::fastdds::dds::DataWriter>
+        eprosima::fastdds::dds::DataWriter*
     > micro_ros_graph_datawriters_;
 };
 

micro_ros_agent/src/agent/Agent.cpp

@@ -25,17 +25,22 @@ Agent::Agent()
 {
 }
 
+Agent& Agent::getInstance()
+{
+    static Agent instance;
+    return instance;
+}
+
 bool Agent::create(
         int argc,
         char** argv)
 {
-    return xrce_dds_agent_instance_.create(argc, argv);
+    bool result = xrce_dds_agent_instance_.create(argc, argv);
-}
 
-void Agent::add_callbacks()
+    if (result && !initialized)
-{
-    if (!started)
     {
+        initialized = true;
+
         /**
          * Add CREATE_PARTICIPANT callback.
          */
@@ -104,6 +109,7 @@ void Agent::add_callbacks()
                 const eprosima::fastdds::dds::DomainParticipant* participant,
                 const eprosima::fastdds::dds::DataWriter* datawriter) -> void
             {
+
                 auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
 
                 // TODO(jamoralp): Workaround for Fast-DDS bug #9977. Remove when fixed
@@ -169,35 +175,36 @@ void Agent::add_callbacks()
             eprosima::uxr::Middleware::Kind::FASTDDS,
             eprosima::uxr::middleware::CallbackKind::DELETE_DATAREADER,
             std::move(on_delete_datareader));
-
-        started = true;
     }
+
+    return result;
 }
 
 void Agent::run()
 {
-    return xrce_dds_agent_instance_.run();
+    xrce_dds_agent_instance_.run();
 }
 
 void Agent::stop()
 {
-    return xrce_dds_agent_instance_.stop();
+    xrce_dds_agent_instance_.stop();
+
+    for (auto & element : graph_manager_map_)
+    {
+        element.second.stop();
+    }
+
+    graph_manager_map_.clear();
 }
 
-std::shared_ptr<graph_manager::GraphManager> Agent::find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id)
+graph_manager::GraphManager* Agent::find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id)
 {
-
+    auto it = graph_manager_map_.find(domain_id);
-auto it = graph_manager_map_.find(domain_id);
 
     if (it != graph_manager_map_.end()) {
-        return it->second;
+        return &it->second;
     }else{
-        return graph_manager_map_.insert(
+        return &graph_manager_map_.emplace(domain_id, domain_id).first->second;
-            std::make_pair(
-                domain_id,
-                std::make_shared<graph_manager::GraphManager>(domain_id)
-            )
-        ).first->second;
     }
 }
 

micro_ros_agent/src/agent/graph_manager/graph_manager.cpp

@@ -28,15 +28,16 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
     , mtx_()
     , cv_()
     , graphCache_()
-    , participant_listener_(std::make_unique<ParticipantListener>(this))
+    , participant_listener_(this)
-    , datareader_listener_(std::make_unique<DatareaderListener>(this))
+    , datareader_listener_(this)
-    , participant_info_typesupport_(std::make_unique<
+    , participant_info_typesupport_()
-        eprosima::fastdds::dds::TypeSupport>(new graph_manager::ParticipantEntitiesInfoTypeSupport()))
+    , microros_graph_info_typesupport_()
-    , microros_graph_info_typesupport_(std::make_unique<
-        eprosima::fastdds::dds::TypeSupport>(new graph_manager::MicrorosGraphInfoTypeSupport()))
 {
     eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->load_profiles();
 
+    participant_info_typesupport_ = (eprosima::fastdds::dds::TypeSupport) new graph_manager::ParticipantEntitiesInfoTypeSupport();
+    microros_graph_info_typesupport_ = (eprosima::fastdds::dds::TypeSupport) new graph_manager::MicrorosGraphInfoTypeSupport();
+
     // Create DomainParticipant
     eprosima::fastdds::dds::DomainParticipantQos participant_qos =
         eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->get_default_participant_qos();
@@ -54,29 +55,30 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
         eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
 
     eprosima::fastdds::dds::StatusMask par_mask = eprosima::fastdds::dds::StatusMask::none();
-    participant_.reset(eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->
+
-        create_participant(domain_id_, participant_qos, participant_listener_.get(), par_mask));
+    participant_ = eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->
+        create_participant(domain_id_, participant_qos, &participant_listener_, par_mask);
 
     // Register participant within typesupport
-    participant_->register_type(*participant_info_typesupport_);
+    participant_->register_type(participant_info_typesupport_);
-    participant_->register_type(*microros_graph_info_typesupport_);
+    participant_->register_type(microros_graph_info_typesupport_);
 
     // Create publisher
-    publisher_.reset(participant_->create_publisher(
+    publisher_ = participant_->create_publisher(
-        eprosima::fastdds::dds::PUBLISHER_QOS_DEFAULT));
+        eprosima::fastdds::dds::PUBLISHER_QOS_DEFAULT);
 
     // Create subscriber
-    subscriber_.reset(participant_->create_subscriber(
+    subscriber_ = participant_->create_subscriber(
-        eprosima::fastdds::dds::SUBSCRIBER_QOS_DEFAULT));
+        eprosima::fastdds::dds::SUBSCRIBER_QOS_DEFAULT);
 
     // Create topics
-    ros_discovery_topic_.reset(participant_->create_topic("ros_discovery_info",
+    ros_discovery_topic_ = participant_->create_topic("ros_discovery_info",
-        participant_info_typesupport_->get_type_name(),
+        participant_info_typesupport_.get_type_name(),
-        eprosima::fastdds::dds::TOPIC_QOS_DEFAULT));
+        eprosima::fastdds::dds::TOPIC_QOS_DEFAULT);
 
-    ros_to_microros_graph_topic_.reset(participant_->create_topic("ros_to_microros_graph",
+    ros_to_microros_graph_topic_ = participant_->create_topic("ros_to_microros_graph",
-        microros_graph_info_typesupport_->get_type_name(),
+        microros_graph_info_typesupport_.get_type_name(),
-        eprosima::fastdds::dds::TOPIC_QOS_DEFAULT));
+        eprosima::fastdds::dds::TOPIC_QOS_DEFAULT);
 
     // Create datawriters
     datawriter_qos_ =
@@ -97,8 +99,9 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
     eprosima::fastdds::dds::DataWriterQos ros_to_microros_datawriter_qos_ = datawriter_qos_;
     ros_to_microros_datawriter_qos_.history().kind =
         eprosima::fastdds::dds::HistoryQosPolicyKind::KEEP_ALL_HISTORY_QOS;
-    ros_to_microros_graph_datawriter_.reset(
+
-        publisher_->create_datawriter(ros_to_microros_graph_topic_.get(), ros_to_microros_datawriter_qos_));
+    ros_to_microros_graph_datawriter_ = 
+        publisher_->create_datawriter(ros_to_microros_graph_topic_, ros_to_microros_datawriter_qos_);
 
     // Create datareaders
 
@@ -114,9 +117,9 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
     datareader_qos.durability().kind =
         eprosima::fastdds::dds::DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;
 
-    ros_discovery_datareader_.reset(
+    ros_discovery_datareader_ = 
-        subscriber_->create_datareader(ros_discovery_topic_.get(),
+        subscriber_->create_datareader(ros_discovery_topic_,
-            datareader_qos, datareader_listener_.get()));
+            datareader_qos, &datareader_listener_);
 
     // Set graph cache on change callback function
     graphCache_.set_on_change_callback([this]()
@@ -320,8 +323,8 @@ void GraphManager::add_participant(
         if (it == micro_ros_graph_datawriters_.end())
         {
             // Create datawriter
-            std::unique_ptr<eprosima::fastdds::dds::DataWriter> datawriter;
+            eprosima::fastdds::dds::DataWriter* datawriter;
-            datawriter.reset(publisher_->create_datawriter(ros_discovery_topic_.get(), datawriter_qos_));
+            datawriter = publisher_->create_datawriter(ros_discovery_topic_, datawriter_qos_);
 
             it = micro_ros_graph_datawriters_.insert(
                 std::make_pair(participant, std::move(datawriter))).first;
@@ -344,8 +347,10 @@ 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(
@@ -376,24 +381,6 @@ void GraphManager::add_datawriter(
         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)
 {
@@ -431,24 +418,6 @@ void GraphManager::add_datareader(
         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)
 {
@@ -581,7 +550,7 @@ void GraphManager::update_node_entities_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)
+        if (sample_info.instance_state == eprosima::fastdds::dds::InstanceStateKind::ALIVE_INSTANCE_STATE)
         {
             graphCache_.update_participant_entities(entities_info);
         }
@@ -666,6 +635,52 @@ void GraphManager::ParticipantListener::on_participant_discovery(
     }
 }
 
+static eprosima::fastdds::dds::DataWriterQos writer_qos_conversion(
+    const eprosima::fastdds::dds::WriterQos& writer_qos)
+{
+    eprosima::fastdds::dds::DataWriterQos datawriter_qos;
+    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::dds::ReaderQos& reader_qos)
+{
+    eprosima::fastdds::dds::DataReaderQos datareader_qos;
+
+    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::fastrtps::rtps::ReaderDiscoveryInfo>(
         const eprosima::fastrtps::rtps::ReaderDiscoveryInfo& reader_info)
@@ -682,7 +697,7 @@ void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtp
             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);
+                iHandle2GUID(reader_info.info.RTPSParticipantKey()), reader_qos_conversion(reader_info.info.m_qos));
             break;
         }
         default:
@@ -709,7 +724,7 @@ void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtp
             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);
+                iHandle2GUID(writer_info.info.RTPSParticipantKey()), writer_qos_conversion(writer_info.info.m_qos));
             break;
         }
         default:

micro_ros_agent/src/main.cpp

@@ -16,7 +16,7 @@
 
 int main(int argc, char** argv)
 {
-    uros::agent::Agent micro_ros_agent;
+    uros::agent::Agent& micro_ros_agent = micro_ros_agent.getInstance();
 
     /** Bypass '--ros-args' flag, as we use our own CLI parser.
       * As a workaround for launch files, arguments will be passed from