6.0.0

* Fix thread include

Signed-off-by: Pablo Garrido <pablogs9@gmail.com>

* Update CI

* Revert "Fix thread include"

This reverts commit 1427fb6246.

* fix

* Fix

Signed-off-by: Pablo Garrido <pablogs9@gmail.com>

---------

Signed-off-by: Pablo Garrido <pablogs9@gmail.com>
(cherry picked from commit cd321caabe)

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>

.github/workflows/ci.yml

@@ -2,37 +2,36 @@ name: CI micro-ROS Agent
 
 on:
     pull_request:
-      branches: 
+      branches:
-        - '**'
+        - 'rolling'
+    schedule:
+      - cron: '33 6 * * *'
 
 jobs:
 
     microros_agent_ci:
-        runs-on: ubuntu-20.04
+      runs-on: ${{ matrix.os }}
-        container: microros/base:rolling
+      strategy:
-
+        fail-fast: false
-        steps:
+        matrix:
-        - uses: actions/checkout@v2
+          os: [ ubuntu-latest ]
-          with:
+          ros_distribution: [ rolling ]
-            path: urosagent
+          include:
-
+            - docker_image: ubuntu:24.04
-        - name: Download dependencies
+              ros_distribution: rolling
-          run: |
+      container:
-            apt update
+        image: ${{ matrix.docker_image }}
-            cd /uros_ws
+      steps:
-            . /opt/ros/$ROS_DISTRO/setup.sh
+      - uses: actions/checkout@v4
-            . install/local_setup.sh
+      - uses: ros-tooling/setup-ros@0.7.7
-            rosdep update
+        with:
-            ros2 run micro_ros_setup create_agent_ws.sh 
+          use-ros2-testing: false
-        
+          required-ros-distributions: ${{ matrix.ros_distribution }}
-        - name: Patch branch
+      - name : Download and install dependencies
-          run: |
+        run: |
-            rm -rf /uros_ws/src/uros/micro-ROS-Agent/*
+          apt-get install ros-${{ matrix.ros_distribution }}-micro-ros-msgs
-            cp -R urosagent/* /uros_ws/src/uros/micro-ROS-Agent/
+          apt-get install ros-${{ matrix.ros_distribution }}-rmw-fastrtps-cpp
-
+      - uses : ros-tooling/action-ros-ci@0.3.6
-        - name: Build
+        with:
-          run:  |
+          package-name: "micro_ros_agent"
-            cd /uros_ws
+          target-ros2-distro: ${{ matrix.ros_distribution }}
-            . /opt/ros/$ROS_DISTRO/setup.sh
-            . install/local_setup.sh
-            ros2 run micro_ros_setup build_agent.sh 

README.md

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

micro_ros_agent/CHANGELOG.rst

@@ -2,6 +2,59 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.0.0 (2024-05-31)
+------------------
+* Bump Micro XRCE-DDS Agent (`#226 <https://github.com/micro-ROS/micro-ROS-Agent/issues/226>`_)
+
+5.0.1 (2024-01-29)
+------------------
+* Fix thread include (`#216 <https://github.com/micro-ROS/micro-ROS-Agent/issues/216>`_) (`#218 <https://github.com/micro-ROS/micro-ROS-Agent/issues/218>`_)
+
+5.0.0 (2023-06-06)
+------------------
+* Add empty type key hash to GraphCache (`#189 <https://github.com/micro-ROS/micro-ROS-Agent/issues/189>`_)
+* Contributors: Antonio Cuadros
+
+4.0.2 (2022-09-28)
+------------------
+* Fix Datawriter destruction (`#169 <https://github.com/micro-ROS/micro-ROS-Agent/issues/169>`_) (`#170 <https://github.com/micro-ROS/micro-ROS-Agent/issues/170>`_)
+* Synchronise predicate (`#160 <https://github.com/micro-ROS/micro-ROS-Agent/issues/160>`_) (`#165 <https://github.com/micro-ROS/micro-ROS-Agent/issues/165>`_)
+
+4.0.1 (2022-06-13)
+------------------
+* Fix memory leak in graph manager (`#147 <https://github.com/micro-ROS/micro-ROS-Agent/issues/147>`_) (`#148 <https://github.com/micro-ROS/micro-ROS-Agent/issues/148>`_)
+
+4.0.0 (2022-05-25)
+------------------
+
+3.0.1 (2022-03-25)
+------------------
+* Add services to graph manager (`#127 <https://github.com/micro-ROS/micro-ROS-Agent/issues/127>`_) (`#129 <https://github.com/micro-ROS/micro-ROS-Agent/issues/129>`_)
+* Add used missing includes (`#116 <https://github.com/micro-ROS/micro-ROS-Agent/issues/116>`_) (`#124 <https://github.com/micro-ROS/micro-ROS-Agent/issues/124>`_)
+* Add system logger flag (`#118 <https://github.com/micro-ROS/micro-ROS-Agent/issues/118>`_) (`#119 <https://github.com/micro-ROS/micro-ROS-Agent/issues/119>`_)
+* Add condition variable include (`#113 <https://github.com/micro-ROS/micro-ROS-Agent/issues/113>`_) (`#114 <https://github.com/micro-ROS/micro-ROS-Agent/issues/114>`_)
+* pass system name to xrceagent (`#110 <https://github.com/micro-ROS/micro-ROS-Agent/issues/110>`_) (`#112 <https://github.com/micro-ROS/micro-ROS-Agent/issues/112>`_)
+* Fix memory leak in FastDDS datawriter (`#107 <https://github.com/micro-ROS/micro-ROS-Agent/issues/107>`_) (`#109 <https://github.com/micro-ROS/micro-ROS-Agent/issues/109>`_)
+
+3.0.0 (2021-09-13)
+------------------
+
+1.0.1 (2021-09-13)
+------------------
+* Remove XRCE dependency and add superbuild (`#97 <https://github.com/micro-ROS/micro-ROS-Agent/issues/97>`_)
+* Fixed launch file by using a list for arguments. Ensures order of items is kept. (`#93 <https://github.com/micro-ROS/micro-ROS-Agent/issues/93>`_) (`#94 <https://github.com/micro-ROS/micro-ROS-Agent/issues/94>`_)
+* Modify argument type (`#91 <https://github.com/micro-ROS/micro-ROS-Agent/issues/91>`_)
+* Fix graph manager datawriters behaviour (`#84 <https://github.com/micro-ROS/micro-ROS-Agent/issues/84>`_)
+* Graph manager: Fix participant mask for listener callbacks (`#81 <https://github.com/micro-ROS/micro-ROS-Agent/issues/81>`_)
+* Fix agent launch (`#78 <https://github.com/micro-ROS/micro-ROS-Agent/issues/78>`_)
+* Fix graph manager node namespaces (`#75 <https://github.com/micro-ROS/micro-ROS-Agent/issues/75>`_)
+* Fix Rolling agent (`#61 <https://github.com/micro-ROS/micro-ROS-Agent/issues/61>`_)
+* Add multi domain graph manager (`#69 <https://github.com/micro-ROS/micro-ROS-Agent/issues/69>`_)
+* Add ros2 launch capabilities and example launch file (`#47 <https://github.com/micro-ROS/micro-ROS-Agent/issues/47>`_)
+* Snap build for the micro-ROS-Agent (`#43 <https://github.com/micro-ROS/micro-ROS-Agent/issues/43>`_)
+* Create graph manager after checking passed CLI arguments and launch xrce-dds server (`#41 <https://github.com/micro-ROS/micro-ROS-Agent/issues/41>`_)
+* Contributors: Antonio Cuadros, Jose Antonio Moral, Pablo Garrido, mergify[bot]
+
 0.0.1 (2019-04-24)
 -----------------
 * Initial release

micro_ros_agent/CMakeLists.txt

@@ -19,7 +19,16 @@ option(UROSAGENT_GENERATE_PROFILE
   )
 set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)
 
-project(micro_ros_agent LANGUAGES CXX)
+option(MICROROSAGENT_SUPERBUILD "Enable superbuild compilation." ON)
+option(UAGENT_USE_SYSTEM_LOGGER "Force use of system installed spdlog logger on superbuild." OFF)
+
+if(NOT MICROROSAGENT_SUPERBUILD)
+    project(micro_ros_agent LANGUAGES CXX)
+else()
+    project(uagent_superbuild NONE)
+    include(${PROJECT_SOURCE_DIR}/cmake/SuperBuild.cmake)
+    return()
+endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(microxrcedds_agent REQUIRED)

micro_ros_agent/cmake/SuperBuild.cmake

@@ -0,0 +1,68 @@
+# Copyright 2019 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+include(ExternalProject)
+
+unset(_deps)
+
+enable_language(C)
+enable_language(CXX)
+
+unset(xrceagent_DIR CACHE)
+find_package(xrceagent 2 EXACT QUIET)
+if(NOT xrceagent_FOUND)
+    ExternalProject_Add(xrceagent
+            GIT_REPOSITORY
+                https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
+            GIT_TAG
+                v2.4.3
+            PREFIX
+                ${PROJECT_BINARY_DIR}/agent
+            INSTALL_DIR
+                ${CMAKE_INSTALL_PREFIX}
+            CMAKE_CACHE_ARGS
+                -DCMAKE_CXX_COMPILER:FILEPATH=${CMAKE_CXX_COMPILER}
+                -DCMAKE_C_COMPILER:FILEPATH=${CMAKE_C_COMPILER}
+                -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
+                -DCMAKE_C_FLAGS:STRING=${CMAKE_C_FLAGS}
+                -DCMAKE_CXX_FLAGS:STRING=${CMAKE_CXX_FLAGS}
+                -DCMAKE_EXE_LINKER_FLAGS:STRING=${CMAKE_EXE_LINKER_FLAGS}
+                -DCMAKE_SHARED_LINKER_FLAGS:STRING=${CMAKE_SHARED_LINKER_FLAGS}
+                -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR>
+                -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
+                -DCMAKE_PREFIX_PATH:PATH=<INSTALL_DIR>
+                -DCMAKE_SYSTEM_NAME:STRING=${CMAKE_SYSTEM_NAME}
+                -DUAGENT_USE_SYSTEM_FASTDDS:BOOL=ON
+                -DUAGENT_USE_SYSTEM_FASTCDR:BOOL=ON
+                -DUAGENT_USE_SYSTEM_LOGGER:BOOL=${UAGENT_USE_SYSTEM_LOGGER}
+                -DUAGENT_CED_PROFILE:BOOL=OFF
+                -DUAGENT_P2P_PROFILE:BOOL=OFF
+                -DUAGENT_BUILD_EXECUTABLE:BOOL=OFF
+                -DUAGENT_ISOLATED_INSTALL:BOOL=OFF
+            )
+endif()
+
+# Main project.
+ExternalProject_Add(micro_ros_agent
+    SOURCE_DIR
+        ${PROJECT_SOURCE_DIR}
+    BINARY_DIR
+        ${CMAKE_CURRENT_BINARY_DIR}
+    CMAKE_CACHE_ARGS
+        -DMICROROSAGENT_SUPERBUILD:BOOL=OFF
+    INSTALL_COMMAND
+        ""
+    DEPENDS
+        xrceagent
+    )

micro_ros_agent/include/agent/Agent.hpp

@@ -20,6 +20,10 @@
 #include <uxr/agent/middleware/utils/Callbacks.hpp>
 
 #include <agent/graph_manager/graph_manager.hpp>
+
+#include <map>
+#include <memory>
+
 // TODO(jamoralp): class Documentation
 namespace uros {
 namespace agent {

micro_ros_agent/include/agent/graph_manager/graph_manager.hpp

@@ -12,6 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#ifndef _UROS_AGENT_GRAPH_MANAGER_HPP
+#define _UROS_AGENT_GRAPH_MANAGER_HPP
+
 #include "fastrtps/Domain.h"
 #include <fastrtps/TopicDataType.h>
 #include "fastrtps/attributes/ParticipantAttributes.h"
@@ -58,8 +61,11 @@
 #include <agent/graph_manager/graph_typesupport.hpp>
 #include <agent/utils/demangle.hpp>
 
-#ifndef _UROS_AGENT_GRAPH_MANAGER_HPP
+#include <condition_variable>
-#define _UROS_AGENT_GRAPH_MANAGER_HPP
+#include <string>
+#include <memory>
+#include <map>
+#include <thread>
 
 namespace uros {
 namespace agent {
@@ -106,6 +112,12 @@ 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.
@@ -294,7 +306,7 @@ private:
     // 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/launch/micro_ros_agent_launch.py

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

micro_ros_agent/package.xml

@@ -2,9 +2,10 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>micro_ros_agent</name>
-  <version>0.0.1</version>
+  <version>6.0.0</version>
-  <description>DDS-XCRE agent implementation </description>
+  <description>micro-ROS Agent package</description>
-  <maintainer email="borjaouterelo@eprosima.com">Borja Outerelo</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>
@@ -14,7 +15,6 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
-  <depend>microxrcedds_agent</depend>
   <depend>rmw</depend>
   <depend>rcutils</depend>
   <depend>rmw_fastrtps_shared_cpp</depend>

micro_ros_agent/src/agent/Agent.cpp

@@ -17,6 +17,9 @@
 
 #include <agent/Agent.hpp>
 
+#include <utility>
+#include <memory>
+
 namespace uros {
 namespace agent {
 
@@ -76,14 +79,9 @@ 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
+                graph_manager_->add_datawriter(datawriter->guid(), participant, datawriter);
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
-                    datawriter->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
-                    iHandle2GUID(instance_handle);
-                graph_manager_->add_datawriter(datawriter_guid, participant, datawriter);
                 graph_manager_->associate_entity(
-                    datawriter_guid, participant, dds::xrce::OBJK_DATAWRITER);
+                    datawriter->guid(), participant, dds::xrce::OBJK_DATAWRITER);
             });
         xrce_dds_agent_instance_.add_middleware_callback(
             eprosima::uxr::Middleware::Kind::FASTDDS,
@@ -103,12 +101,7 @@ 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
+                graph_manager_->remove_datawriter(datawriter->guid());
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
-                    datawriter->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
-                graph_manager_->remove_datawriter(datawriter_guid);
             });
 
         xrce_dds_agent_instance_.add_middleware_callback(
@@ -166,6 +159,128 @@ bool Agent::create(
             eprosima::uxr::Middleware::Kind::FASTDDS,
             eprosima::uxr::middleware::CallbackKind::DELETE_DATAREADER,
             std::move(on_delete_datareader));
+
+        /**
+         * Add CREATE_REQUESTER callback.
+         */
+        std::function<void (
+            const eprosima::fastdds::dds::DomainParticipant *,
+            const eprosima::fastdds::dds::DataWriter *,
+            const eprosima::fastdds::dds::DataReader *)> on_create_requester
+            ([&](
+                const eprosima::fastdds::dds::DomainParticipant* participant,
+                const eprosima::fastdds::dds::DataWriter* datawriter,
+                const eprosima::fastdds::dds::DataReader * datareader) -> void
+            {
+                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
+
+                graph_manager_->add_datawriter(datawriter->guid(), participant, datawriter);
+                graph_manager_->associate_entity(
+                    datawriter->guid(), participant, dds::xrce::OBJK_DATAWRITER);
+
+                // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
+                    datareader->get_instance_handle();
+                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
+                graph_manager_->add_datareader(datareader_guid, participant, datareader);
+                graph_manager_->associate_entity(
+                    datareader_guid, participant, dds::xrce::OBJK_DATAREADER);
+            });
+        xrce_dds_agent_instance_.add_middleware_callback(
+            eprosima::uxr::Middleware::Kind::FASTDDS,
+            eprosima::uxr::middleware::CallbackKind::CREATE_REQUESTER,
+            std::move(on_create_requester));
+
+        /**
+         * Add DELETE_REQUESTER callback.
+         */
+        std::function<void (
+            const eprosima::fastdds::dds::DomainParticipant *,
+            const eprosima::fastdds::dds::DataWriter *,
+            const eprosima::fastdds::dds::DataReader *)> on_delete_requester
+            ([&](
+                const eprosima::fastdds::dds::DomainParticipant* participant,
+                const eprosima::fastdds::dds::DataWriter* datawriter,
+                const eprosima::fastdds::dds::DataReader * datareader) -> void
+            {
+                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
+
+                graph_manager_->remove_datawriter(datawriter->guid());
+
+                // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
+                    datareader->get_instance_handle();
+                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
+                graph_manager_->remove_datareader(datareader_guid);
+            });
+
+        xrce_dds_agent_instance_.add_middleware_callback(
+            eprosima::uxr::Middleware::Kind::FASTDDS,
+            eprosima::uxr::middleware::CallbackKind::DELETE_REQUESTER,
+            std::move(on_delete_requester));
+
+        /**
+         * Add CREATE_REPLIER callback.
+         */
+        std::function<void (
+            const eprosima::fastdds::dds::DomainParticipant *,
+            const eprosima::fastdds::dds::DataWriter *,
+            const eprosima::fastdds::dds::DataReader *)> on_create_replier
+            ([&](
+                const eprosima::fastdds::dds::DomainParticipant* participant,
+                const eprosima::fastdds::dds::DataWriter* datawriter,
+                const eprosima::fastdds::dds::DataReader * datareader) -> void
+            {
+                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
+
+                graph_manager_->add_datawriter(datawriter->guid(), participant, datawriter);
+                graph_manager_->associate_entity(
+                    datawriter->guid(), participant, dds::xrce::OBJK_DATAWRITER);
+
+                // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
+                    datareader->get_instance_handle();
+                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
+                graph_manager_->add_datareader(datareader_guid, participant, datareader);
+                graph_manager_->associate_entity(
+                    datareader_guid, participant, dds::xrce::OBJK_DATAREADER);
+            });
+        xrce_dds_agent_instance_.add_middleware_callback(
+            eprosima::uxr::Middleware::Kind::FASTDDS,
+            eprosima::uxr::middleware::CallbackKind::CREATE_REPLIER,
+            std::move(on_create_replier));
+
+        /**
+         * Add DELETE_REPLIER callback.
+         */
+        std::function<void (
+            const eprosima::fastdds::dds::DomainParticipant *,
+            const eprosima::fastdds::dds::DataWriter *,
+            const eprosima::fastdds::dds::DataReader *)> on_delete_replier
+            ([&](
+                const eprosima::fastdds::dds::DomainParticipant* participant,
+                const eprosima::fastdds::dds::DataWriter* datawriter,
+                const eprosima::fastdds::dds::DataReader * datareader) -> void
+            {
+                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());
+
+                graph_manager_->remove_datawriter(datawriter->guid());
+
+                // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
+                    datareader->get_instance_handle();
+                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
+                graph_manager_->remove_datareader(datareader_guid);
+            });
+
+        xrce_dds_agent_instance_.add_middleware_callback(
+            eprosima::uxr::Middleware::Kind::FASTDDS,
+            eprosima::uxr::middleware::CallbackKind::DELETE_REPLIER,
+            std::move(on_delete_replier));
     }
 
     return result;

micro_ros_agent/src/agent/graph_manager/graph_manager.cpp

@@ -17,6 +17,11 @@
 
 #include <agent/graph_manager/graph_manager.hpp>
 
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
+
 namespace uros {
 namespace agent {
 namespace graph_manager {
@@ -96,7 +101,7 @@ 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;
+        eprosima::fastdds::dds::HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
     ros_to_microros_graph_datawriter_.reset(
         publisher_->create_datawriter(ros_to_microros_graph_topic_.get(), ros_to_microros_datawriter_qos_));
 
@@ -121,8 +126,10 @@ 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;
+            std::unique_lock<std::mutex> lock(this->mtx_);
+            this->graph_changed_ = true;
+        }
         this->cv_.notify_one();
     });
 
@@ -139,6 +146,7 @@ inline void GraphManager::publish_microros_graph()
             {
                 return this->graph_changed_;
             });
+            graph_changed_ = false;
         }
 
         if (display_on_change_)
@@ -146,7 +154,6 @@ inline void GraphManager::publish_microros_graph()
             std::cout << "Updated uros Graph: graph changed" << std::endl;
             std::cout << graphCache_ << std::endl;
         }
-        graph_changed_ = false;
 
         micro_ros_msgs::msg::Graph graph_message;
 
@@ -315,11 +322,10 @@ 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 = publisher_->create_datawriter(ros_discovery_topic_.get(), datawriter_qos_);
-            datawriter.reset(publisher_->create_datawriter(ros_discovery_topic_.get(), datawriter_qos_));
 
             it = micro_ros_graph_datawriters_.insert(
-                std::make_pair(participant, std::move(datawriter))).first;
+                std::make_pair(participant, datawriter)).first;
         }
 
         it->second->write(static_cast<void *>(&info));
@@ -339,8 +345,9 @@ 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(
@@ -367,8 +374,8 @@ 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,
+    graphCache_.add_entity(datawriter_gid, topic_name, type_name,
-        type_name, participant_gid, qos_profile, false);
+        rosidl_get_zero_initialized_type_hash(), participant_gid, qos_profile, false);
 }
 
 void GraphManager::remove_datawriter(
@@ -404,8 +411,13 @@ void GraphManager::add_datareader(
         "rmw_fastrtps_cpp", participant_guid);
     const rmw_qos_profile_t qos_profile = fastdds_qos_to_rmw_qos(reader_qos);
 
-    graphCache_.add_entity(datareader_gid, topic_name,
+    // TODO(acuadros95): Use typesupport to calculate type hash on micro-ROS and save and get it from reader_qos.user_data.
-        type_name, participant_gid, qos_profile, true);
+    // Related PRs:
+    // https://github.com/ros2/rmw_dds_common/pull/70
+    // https://github.com/ros2/rmw_fastrtps/pull/671
+    // https://github.com/ros2/rmw_fastrtps/pull/680
+    graphCache_.add_entity(datareader_gid, topic_name, type_name,
+        rosidl_get_zero_initialized_type_hash(), participant_gid, qos_profile, true);
 }
 
 void GraphManager::remove_datareader(
@@ -592,7 +604,7 @@ GraphManager::ParticipantListener::ParticipantListener(
 }
 
 void GraphManager::ParticipantListener::on_participant_discovery(
-        eprosima::fastdds::dds::DomainParticipant* participant,
+        eprosima::fastdds::dds::DomainParticipant* /* participant */,
         eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info)
 {
     switch (info.status)
@@ -609,13 +621,15 @@ void GraphManager::ParticipantListener::on_participant_discovery(
             const std::string enclave =
                 std::string(name_found->second.begin(), name_found->second.end());
 
-            graphManager_from_->add_participant(participant, false, enclave);
+            const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", info.info.m_guid);
+            graphManager_from_->get_graph_cache().add_participant(gid, enclave);
             break;
         }
         case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT:
         case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DROPPED_PARTICIPANT:
         {
-            graphManager_from_->remove_participant(participant, false);
+            const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", info.info.m_guid);
+            graphManager_from_->get_graph_cache().remove_participant(gid);
             break;
         }
         default:

micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp

@@ -17,6 +17,8 @@
 
 #include <agent/graph_manager/graph_typesupport.hpp>
 
+#include <string>
+
 namespace uros {
 namespace agent {
 namespace graph_manager {
@@ -41,7 +43,7 @@ ParticipantEntitiesInfoTypeSupport::ParticipantEntitiesInfoTypeSupport()
     ss << "dds_::" << message_name << "_";
     this->setName(ss.str().c_str());
 
-    bool full_bounded = true;
+    char full_bounded;
     m_typeSize = 4 + callbacks_->max_serialized_size(full_bounded);
 }
 
@@ -52,14 +54,14 @@ bool ParticipantEntitiesInfoTypeSupport::serialize(
     eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
         payload->max_size);
     eprosima::fastcdr::Cdr scdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-        eprosima::fastcdr::Cdr::DDS_CDR);
+        eprosima::fastcdr::DDS_CDR);
 
     scdr.serialize_encapsulation();
     if (callbacks_->cdr_serialize(data, scdr))
     {
         payload->encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
             CDR_BE : CDR_LE;
-        payload->length = static_cast<uint32_t>(scdr.getSerializedDataLength());
+        payload->length = static_cast<uint32_t>(scdr.get_serialized_data_length());
         return true;
     }
     else
@@ -75,7 +77,7 @@ bool ParticipantEntitiesInfoTypeSupport::deserialize(
     eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
         payload->length);
     eprosima::fastcdr::Cdr dcdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-        eprosima::fastcdr::Cdr::DDS_CDR);
+        eprosima::fastcdr::DDS_CDR);
 
     dcdr.read_encapsulation();
     return callbacks_->cdr_deserialize(dcdr, data);
@@ -133,7 +135,7 @@ MicrorosGraphInfoTypeSupport::MicrorosGraphInfoTypeSupport()
     ss << "dds_::" << message_name << "_";
     this->setName(ss.str().c_str());
 
-    bool full_bounded = true;
+    char full_bounded;
     m_typeSize = 4 + callbacks_->max_serialized_size(full_bounded);
 }
 
@@ -144,14 +146,14 @@ bool MicrorosGraphInfoTypeSupport::serialize(
     eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
         payload->max_size);
     eprosima::fastcdr::Cdr scdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-        eprosima::fastcdr::Cdr::DDS_CDR);
+        eprosima::fastcdr::DDS_CDR);
 
     scdr.serialize_encapsulation();
     if (callbacks_->cdr_serialize(data, scdr))
     {
         payload->encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
             CDR_BE : CDR_LE;
-        payload->length = static_cast<uint32_t>(scdr.getSerializedDataLength());
+        payload->length = static_cast<uint32_t>(scdr.get_serialized_data_length());
         return true;
     }
     else
@@ -167,7 +169,7 @@ bool MicrorosGraphInfoTypeSupport::deserialize(
     eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
         payload->length);
     eprosima::fastcdr::Cdr dcdr(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-        eprosima::fastcdr::Cdr::DDS_CDR);
+        eprosima::fastcdr::DDS_CDR);
 
     dcdr.read_encapsulation();
     return callbacks_->cdr_deserialize(dcdr, data);

micro_ros_agent/src/main.cpp

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