4.0.0

Update changelog
Update CI (#138 )
2026-09-06 18:05:17 +02:00 · 2022-05-25 09:10:03 +02:00 · 2022-05-25 09:09:56 +02:00 · 2022-05-23 09:08:43 +02:00
7 changed files with 15 additions and 37 deletions
@@ -3,24 +3,24 @@ name: CI micro-ROS Agent
 on:
    pull_request:
      branches:
-        - 'humble'
+        - 'main'
    schedule:
      - cron: '33 6 * * *'

 jobs:

    microros_agent_ci:
-      runs-on: ubuntu-latest
+      runs-on: ${{ matrix.os }}
      strategy:
        fail-fast: false
        matrix:
          os: [ ubuntu-20.04 ]
-          ros_distribution: [ humble ]
+          ros_distribution: [ rolling ]
          include:
-            - docker_image: ubuntu:jammy
-              ros_distribution: humble
+            - docker_image: ubuntu:22.04
+              ros_distribution: rolling
      container:
-        image: ubuntu:jammy
+        image: ubuntu:22.04
      steps:
      - uses: actions/checkout@v2
      - uses: ros-tooling/setup-ros@0.3.2
@@ -2,7 +2,7 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

-3.0.2 (2022-05-25)
+4.0.0 (2022-05-25)
 ------------------

 3.0.1 (2022-03-25)
@@ -46,7 +46,6 @@ private:

    eprosima::uxr::AgentInstance& xrce_dds_agent_instance_;
    std::map<eprosima::fastdds::dds::DomainId_t, std::shared_ptr<graph_manager::GraphManager>> graph_manager_map_;
-    std::string namespace_remapping = "";

    std::shared_ptr<graph_manager::GraphManager> find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id);
 };
@@ -80,7 +80,7 @@ public:
    /**
     * @brief   Default constructor.
     */
-    GraphManager(eprosima::fastdds::dds::DomainId_t domain_id, std::string namespace_remapping);
+    GraphManager(eprosima::fastdds::dds::DomainId_t domain_id);

    /**
     * @brief   Default destructor.
@@ -274,7 +274,6 @@ private:
            std::string& node_namespace);

    eprosima::fastdds::dds::DomainId_t domain_id_;
-    std::string namespace_remapping_;
    bool graph_changed_;
    bool display_on_change_;
    std::thread microros_graph_publisher_;
@@ -2,7 +2,7 @@
 <?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>3.0.2</version>
+  <version>4.0.0</version>
  <description>micro-ROS Agent package</description>
  <maintainer email="pablogarrido@eprosima.com">Pablo Garrido</maintainer>
  <maintainer email="antoniocuadros@eprosima.com">Antonio Cuadros</maintainer>
@@ -33,17 +33,6 @@ bool Agent::create(
        char** argv)
 {
    bool result = xrce_dds_agent_instance_.create(argc, argv);
-
-    // Find namespace remapping
-    for (int i = 0; i < argc; i++)
-    {
-        if (strcmp(argv[i], "--namespace-remapping") == 0 && i + 1 < argc)
-        {
-            namespace_remapping = argv[i + 1];
-            std::cout << "Remapping all entities to namespace " << namespace_remapping << std::endl;
-        }
-    }
-
    if (result)
    {
        /**
@@ -304,7 +293,8 @@ void Agent::run()

 std::shared_ptr<graph_manager::GraphManager> Agent::find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id)
 {
-    auto it = graph_manager_map_.find(domain_id);
+
+auto it = graph_manager_map_.find(domain_id);

    if (it != graph_manager_map_.end()) {
        return it->second;
@@ -312,7 +302,7 @@ std::shared_ptr<graph_manager::GraphManager> Agent::find_or_create_graph_manager
        return graph_manager_map_.insert(
            std::make_pair(
                domain_id,
-                std::make_shared<graph_manager::GraphManager>(domain_id, namespace_remapping)
+                std::make_shared<graph_manager::GraphManager>(domain_id)
            )
        ).first->second;
    }
@@ -26,9 +26,8 @@ namespace uros {
 namespace agent {
 namespace graph_manager {

-GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id, std::string namespace_remapping)
+GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
    : domain_id_(domain_id)
-    , namespace_remapping_(namespace_remapping)
    , graph_changed_(false)
    , display_on_change_(false)
    , mtx_()
@@ -314,8 +313,6 @@ void GraphManager::add_participant(
        std::string isolated_node_name, isolated_namespace;
        get_name_and_namespace(qos.name().to_string(), isolated_node_name, isolated_namespace);

-        isolated_namespace = namespace_remapping_ + isolated_namespace;
-
        rmw_dds_common::msg::ParticipantEntitiesInfo info =
            graphCache_.add_node(gid, isolated_node_name, isolated_namespace);

@@ -358,10 +355,7 @@ void GraphManager::add_datawriter(
 {
    const std::string& topic_name = datawriter->get_topic()->get_name();
    const std::string& type_name = datawriter->get_topic()->get_type_name();
-
-    auto remapped_topic_name = namespace_remapping_ + "/" + topic_name;
-
-    this->add_datawriter(datawriter_guid, remapped_topic_name, type_name,
+    this->add_datawriter(datawriter_guid, topic_name, type_name,
        participant->guid(), datawriter->get_qos());
 }

@@ -378,9 +372,7 @@ void GraphManager::add_datawriter(
        "rmw_fastrtps_cpp", participant_guid);
    const rmw_qos_profile_t qos_profile = fastdds_qos_to_rmw_qos(writer_qos);

-     auto remapped_topic_name = namespace_remapping_ + "/" + topic_name;
-
-    graphCache_.add_entity(datawriter_gid, remapped_topic_name,
+    graphCache_.add_entity(datawriter_gid, topic_name,
        type_name, participant_gid, qos_profile, false);
 }

@@ -449,7 +441,6 @@ void GraphManager::associate_entity(
        {
            std::string isolated_node_name, isolated_namespace;
            get_name_and_namespace(qos.name().c_str(), isolated_node_name, isolated_namespace);
-            isolated_namespace = namespace_remapping_ + isolated_namespace;
            info = graphCache_.associate_writer(
                entity_gid, participant_gid, isolated_node_name, isolated_namespace);
            break;
@@ -458,7 +449,6 @@ void GraphManager::associate_entity(
        {
            std::string isolated_node_name, isolated_namespace;
            get_name_and_namespace(qos.name().c_str(), isolated_node_name, isolated_namespace);
-            isolated_namespace = namespace_remapping_ + isolated_namespace;
            info = graphCache_.associate_reader(
                entity_gid, participant_gid, isolated_node_name, isolated_namespace);
            break;