3.0.2

Update changelog
Revert test humble release (#142 )
2026-09-06 18:05:17 +02:00 · 2022-05-25 09:09:39 +02:00 · 2022-05-25 09:09:27 +02:00 · 2022-05-24 11:11:32 +02:00 · 2022-05-20 12:35:11 +02:00 · 2022-04-19 14:57:19 +02:00
14 changed files with 143 additions and 270 deletions
@@ -3,24 +3,24 @@ name: CI micro-ROS Agent
 on:
    pull_request:
      branches:
-        - 'foxy'
+        - 'humble'
    schedule:
      - cron: '33 6 * * *'

 jobs:

    microros_agent_ci:
-      runs-on: ubuntu-20.04
+      runs-on: ubuntu-latest
      strategy:
        fail-fast: false
        matrix:
          os: [ ubuntu-20.04 ]
-          ros_distribution: [ foxy ]
+          ros_distribution: [ humble ]
          include:
-            - docker_image: ubuntu:20.04
-              ros_distribution: foxy
+            - docker_image: ubuntu:jammy
+              ros_distribution: humble
      container:
-        image: ubuntu:20.04
+        image: ubuntu:jammy
      steps:
      - uses: actions/checkout@v2
      - uses: ros-tooling/setup-ros@0.3.2
@@ -35,4 +35,3 @@ jobs:
        with:
          package-name: "micro_ros_agent"
          target-ros2-distro: ${{ matrix.ros_distribution }}
-
@@ -1,54 +0,0 @@
-name: snap
-on:
-  push:
-    tags:
-      - '*'
-    branches:
-      - foxy
-  pull_request:
-    branches:
-      - foxy
-  workflow_dispatch:
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    outputs:
-      snap-file: ${{ steps.build-snap.outputs.snap }}
-    steps:
-    - uses: actions/checkout@v2
-      with:
-        # full history for latest tag name
-        fetch-depth: 0
-    - uses: snapcore/action-build@v1
-      id: build-snap
-      with:
-        snapcraft-args: '--enable-experimental-extensions'
-
-    # Make sure the snap is installable
-    - run: |
-        sudo snap install --dangerous ${{ steps.build-snap.outputs.snap }}
-
-    # @todo Do some testing with the snap
-    - run: |
-        micro-ros-agent udp4
-    - uses: actions/upload-artifact@v3
-      with:
-        name: micro-ros-agent-snap
-        path: ${{ steps.build-snap.outputs.snap }}
-
-  publish:
-    if: github.ref == 'refs/heads/foxy' || startsWith(github.ref, 'refs/tags/')
-    runs-on: ubuntu-latest
-    needs: build
-    steps:
-    - uses: actions/download-artifact@v3
-      with:
-        name: micro-ros-agent-snap
-        path: .
-    - uses: snapcore/action-publish@v1
-      env:
-        SNAPCRAFT_STORE_CREDENTIALS: ${{ secrets.STORE_LOGIN }}
-      with:
-        snap: ${{needs.build.outputs.snap-file}}
-        release: ${{ startsWith(github.ref, 'refs/tags/') && 'candidate' || 'edge'}}
@@ -33,7 +33,3 @@
 # End of https://www.gitignore.io/api/qtcreator

 CMakeLists.txt.user
-
-
-# snaps
-*.snap
@@ -55,4 +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.
@@ -2,28 +2,22 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

-1.5.4 (2022-09-28)
------------------
-* Fix Datawriter destruction (`#169 <https://github.com/micro-ROS/micro-ROS-Agent/issues/169>`_) (`#171 <https://github.com/micro-ROS/micro-ROS-Agent/issues/171>`_)
-* Synchronise predicate (`#160 <https://github.com/micro-ROS/micro-ROS-Agent/issues/160>`_) (`#167 <https://github.com/micro-ROS/micro-ROS-Agent/issues/167>`_)
-
-1.5.3 (2022-06-13)
------------------
-* Fix memory leak in graph manager (`#147 <https://github.com/micro-ROS/micro-ROS-Agent/issues/147>`_) (`#149 <https://github.com/micro-ROS/micro-ROS-Agent/issues/149>`_)
-
-1.5.2 (2022-05-25)
+3.0.2 (2022-05-25)
 ------------------

-1.5.1 (2022-03-25)
+3.0.1 (2022-03-25)
 ------------------
-* Add services to graph manager (backport `#127 <https://github.com/micro-ROS/micro-ROS-Agent/issues/127>`_) (`#128 <https://github.com/micro-ROS/micro-ROS-Agent/issues/128>`_)
-* Add used missing includes (`#116 <https://github.com/micro-ROS/micro-ROS-Agent/issues/116>`_)
-* Add system logger flag (`#118 <https://github.com/micro-ROS/micro-ROS-Agent/issues/118>`_) (`#120 <https://github.com/micro-ROS/micro-ROS-Agent/issues/120>`_)
-* Add condition variable include (`#113 <https://github.com/micro-ROS/micro-ROS-Agent/issues/113>`_) (`#115 <https://github.com/micro-ROS/micro-ROS-Agent/issues/115>`_)
-* pass system name to xrceagent (`#110 <https://github.com/micro-ROS/micro-ROS-Agent/issues/110>`_) (`#111 <https://github.com/micro-ROS/micro-ROS-Agent/issues/111>`_)
-* Fix memory leak in FastDDS datawriter (`#107 <https://github.com/micro-ROS/micro-ROS-Agent/issues/107>`_) (`#108 <https://github.com/micro-ROS/micro-ROS-Agent/issues/108>`_)
+* 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>`_)

-1.5.0 (2021-09-13)
+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>`_)
@@ -111,12 +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.
@@ -143,21 +137,6 @@ 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.
@@ -191,21 +170,6 @@ 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.
@@ -335,7 +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_;
 };

@@ -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>1.5.4</version>
+  <version>3.0.2</version>
  <description>micro-ROS Agent package</description>
  <maintainer email="pablogarrido@eprosima.com">Pablo Garrido</maintainer>
  <maintainer email="antoniocuadros@eprosima.com">Antonio Cuadros</maintainer>
@@ -79,14 +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
-                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_->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,
@@ -106,12 +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
-                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);
+                graph_manager_->remove_datawriter(datawriter->guid());
            });

        xrce_dds_agent_instance_.add_middleware_callback(
@@ -184,21 +174,15 @@ bool Agent::create(
            {
                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());

-                // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle_dw =
-                    datawriter->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle_dw);
-
-                graph_manager_->add_datawriter(datawriter_guid, participant, datawriter);
+                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);

                // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle_dr =
+                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_dr);
+                    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);
@@ -222,18 +206,13 @@ bool Agent::create(
            {
                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());

-                // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle_dw =
-                    datawriter->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle_dw);
-                graph_manager_->remove_datawriter(datawriter_guid);
+                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_dr =
+                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_dr);
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
                graph_manager_->remove_datareader(datareader_guid);
            });

@@ -256,20 +235,15 @@ bool Agent::create(
            {
                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());

-                // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle_dw =
-                    datawriter->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle_dw);
-                graph_manager_->add_datawriter(datawriter_guid, participant, datawriter);
+                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);

                // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle_dr =
+                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_dr);
+                    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);
@@ -293,18 +267,13 @@ bool Agent::create(
            {
                auto graph_manager_ = find_or_create_graph_manager(participant->get_domain_id());

-                // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle_dw =
-                    datawriter->get_instance_handle();
-                const eprosima::fastrtps::rtps::GUID_t datawriter_guid =
-                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle_dw);
-                graph_manager_->remove_datawriter(datawriter_guid);
+                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_dr =
+                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_dr);
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
                graph_manager_->remove_datareader(datareader_guid);
            });

@@ -125,11 +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();
    });

@@ -146,7 +144,6 @@ inline void GraphManager::publish_microros_graph()
            {
                return this->graph_changed_;
            });
-            graph_changed_ = false;
        }

        if (display_on_change_)
@@ -154,6 +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;

@@ -322,10 +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));
@@ -345,9 +344,8 @@ 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(
@@ -378,24 +376,6 @@ 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)
 {
@@ -433,24 +413,6 @@ 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)
 {
@@ -583,7 +545,7 @@ 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);
        }
@@ -635,7 +597,7 @@ 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)
@@ -652,15 +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.info.m_guid);
-            graphManager_from_->get_graph_cache().add_participant(gid, enclave);
+            graphManager_from_->add_participant(participant, false, enclave);
            break;
        }
        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.info.m_guid);
-            graphManager_from_->get_graph_cache().remove_participant(gid);
+            graphManager_from_->remove_participant(participant, false);
            break;
        }
        default:
@@ -670,6 +630,52 @@ 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)
@@ -686,7 +692,7 @@ 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:
@@ -713,7 +719,7 @@ 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:
@@ -43,7 +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);
 }

@@ -135,7 +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);
 }

@@ -1,19 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-    <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
-        <transport_descriptors>
-            <transport_descriptor>
-                <transport_id>CustomUdpTransport</transport_id>
-                <type>UDPv4</type>
-            </transport_descriptor>
-        </transport_descriptors>
-
-        <participant profile_name="participant_profile" is_default_profile="true">
-            <rtps>
-                <userTransports>
-                    <transport_id>CustomUdpTransport</transport_id>
-                </userTransports>
-
-                <useBuiltinTransports>false</useBuiltinTransports>
-            </rtps>
-        </participant>
-    </profiles>
@@ -24,4 +24,4 @@ if [ -n "$p2p_port" ]; then
 	set -- --p2p "$p2p_port" "$@"
 fi

-exec "$SNAP/opt/ros/snap/lib/micro_ros_agent/micro_ros_agent" "$transport" "$@"
+exec "$SNAP/lib/micro_ros_agent/micro_ros_agent" "$transport" "$@"
@@ -1,10 +1,12 @@
 name: micro-ros-agent
-adopt-info: uros-agent # parse metadata from the uros-agent part
 base: core20
+version: git
 summary: Bridge between Micro ROS client applications and ROS 2
 description: |
  Micro-ROS, whose default implementation is based on eProsima's
-  Micro XRCE-DDS middleware, is composed of client applications which interact with the ROS 2 world by means of an Agent.  This agent keeps tracks of the entities created by means of
+  Micro XRCE-DDS middleware, is composed of client applications
+  which interact with the ROS 2 world by means of an Agent.
+  This agent keeps tracks of the entities created by means of
  requests performed on the microcontroller side, and uses them
  to communicate with the ROS 2 dataspace.

@@ -69,6 +71,16 @@ description: |

        $ snap set micro-ros-agent device="device path"

+  If connecting the micro-ROS Agent using an IP based connection mode,
+  that is, `udp4`, `udp6`, `tcp4` or `tcp6`, care must be taken to
+  connect first the `micro-ros-agent-shm-netplug` plug.
+  This is due to the fact that ROS 2 Foxy is using Fast-DDS as the
+  default DDS middleware, and Fast-DDS comes with *shared memory transport*.
+  Thus, this plugin must be enabled, in order to gain access to the
+  `/dev/shm` folder from the snap image, prior to running it:
+
+      $ sudo snap connect micro-ros-agent:micro-ros-agent-shm-netplug
+
  When using the snap with a serial device, some steps need to be taken
  in order to establish a successful connection:

@@ -99,6 +111,7 @@ description: |
  After this, you can execute your snap as usual,
  using `sudo micro-ros-agent serial -d <serial-dev>`.

+grade: stable
 confinement: strict

 architectures:
@@ -108,43 +121,48 @@ architectures:
  - build-on: ppc64el

 parts:
+
  uros-agent:
    plugin: colcon
    source: .
-    colcon-cmake-args:
-      - -DMICROROSAGENT_SUPERBUILD=ON
-      - --cmake-force-configure
-    override-pull: |
-        snapcraftctl pull
-
-        version="$(git describe --always --tags| sed -e 's/^v//;s/-/+git/;y/-/./')"
-        [ -n "$(echo $version | grep "+git")" ] && grade=devel || grade=stable
-        snapcraftctl set-version "$version"
-        snapcraftctl set-grade "$grade"
-
-    build-packages: [make, gcc, g++, git]
+    override-build: |
+        set +u
+        git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git -b $ROS_DISTRO
+        git clone https://github.com/eProsima/Micro-CDR.git -b $ROS_DISTRO
+        git clone https://github.com/micro-ROS/micro_ros_msgs.git -b $ROS_DISTRO
+        git clone https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git -b $ROS_DISTRO
+        git clone https://github.com/micro-ROS/rmw-microxrcedds.git -b $ROS_DISTRO
+        git clone https://github.com/micro-ROS/micro-ROS-Agent.git -b $ROS_DISTRO
+        . /opt/ros/$ROS_DISTRO/setup.sh
+        colcon build --merge-install --install-base $SNAPCRAFT_PRIME --cmake-args "-DUAGENT_BUILD_EXECUTABLE=OFF -DUAGENT_USE_SYSTEM_FASTDDS=ON" --packages-up-to micro_ros_agent
+        set -u
+    build-packages: [make, gcc, g++]
    stage-packages: [ros-foxy-ros2launch]

  runner:
    plugin: dump
    source: snap/local/
    organize:
-      'micro-ros-agent-daemon': usr/bin/
-      'fastdds_no_shared_memory.xml': usr/share/
+      '*': usr/bin/
+
+plugs:
+  micro-ros-agent-shm-netplug:
+    interface: system-files
+    allow-auto-connection: true
+    write:
+      - /dev/shm

 apps:
  micro-ros-agent:
-    command: opt/ros/snap/lib/micro_ros_agent/micro_ros_agent
+    command: lib/micro_ros_agent/micro_ros_agent
    environment:
-        FASTRTPS_DEFAULT_PROFILES_FILE: ${SNAP}/usr/share/fastdds_no_shared_memory.xml
-    plugs: [network, network-bind, serial-port]
+        LD_LIBRARY_PATH: "$LD_LIBRARY_PATH:$SNAP/lib"
+    plugs: [network, network-bind, serial-port, micro-ros-agent-shm-netplug]
    extensions: [ros2-foxy]

  daemon:
    command: usr/bin/micro-ros-agent-daemon
    environment:
-        FASTRTPS_DEFAULT_PROFILES_FILE: ${SNAP}/usr/share/fastdds_no_shared_memory.xml
+        LD_LIBRARY_PATH: "$LD_LIBRARY_PATH:$SNAP/lib"
    daemon: simple
-    plugs: [network, network-bind, serial-port]
-    extensions: [ros2-foxy]
-
+    plugs: [network, network-bind, serial-port, micro-ros-agent-shm-netplug]
Author	SHA1	Message	Date
Pablo Garrido	4a750220d2	3.0.2	2022-05-25 09:09:39 +02:00
Pablo Garrido	b5a0d0b6ee	Update changelog	2022-05-25 09:09:27 +02:00
Antonio Cuadros	114a043ee2	Revert test humble release (#142 )	2022-05-24 11:11:32 +02:00
Antonio CuadrosandPablo Garrido	b0ebf5ab3f	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>	2022-05-20 12:35:11 +02:00
mergify[bot]andAntonio Cuadros	d91c98ab6e	Add snap issue to README (#131 ) (#132 ) (cherry picked from commit `0d4fcf8547`) Co-authored-by: Antonio Cuadros <49162117+Acuadros95@users.noreply.github.com>	2022-04-19 14:57:19 +02:00
Pablo Garrido	9ed4bb3c15	3.0.1	2022-03-25 11:15:37 +01:00
Pablo Garrido	489dbddced	Update changelog Signed-off-by: Pablo Garrido <pablogs9@gmail.com>	2022-03-25 11:15:30 +01:00
mergify[bot]andPablo Garrido	ed0402c2dd	Add services to graph manager (#127 ) (#129 ) Signed-off-by: Pablo Garrido <pablogs9@gmail.com> (cherry picked from commit `6d67807737`) Co-authored-by: Pablo Garrido <pablogs9@gmail.com>	2022-03-22 10:26:24 +01:00
mergify[bot]andPablo Garrido	5780038fcc	Add used missing includes (#116 ) (#124 ) * 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 08:47:50 +01:00
mergify[bot]andAntonio Cuadros	57bdfc5463	Add system logger flag (#118 ) (#119 ) * Add system logger flag * Add flag to superbuild (cherry picked from commit `90545b7184`) Co-authored-by: Antonio Cuadros <49162117+Acuadros95@users.noreply.github.com>	2022-01-27 15:35:26 +01:00
mergify[bot]andPablo Garrido	1f1b5842c6	Add condition variable include (#113 ) (#114 ) Signed-off-by: Pablo Garrido <pablogs9@gmail.com> Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> (cherry picked from commit `07c460a327`) Co-authored-by: Pablo Garrido <pablogs9@gmail.com>	2022-01-14 08:21:30 +01:00
mergify[bot]andRoland Schwan	6d2d47490a	pass system name to xrceagent (#110 ) (#112 ) (cherry picked from commit `8aea206b93`) Co-authored-by: Roland Schwan <RSchwan@users.noreply.github.com>	2022-01-12 12:43:38 +01:00
mergify[bot]andPablo Garrido	61b1e6fc8c	Fix memory leak in FastDDS datawriter (#107 ) (#109 ) Signed-off-by: Pablo Garrido <pablogs9@gmail.com> (cherry picked from commit `ff2ae91877`) Co-authored-by: Pablo Garrido <pablogs9@gmail.com>	2021-12-22 10:23:17 +01:00
Your Name	d7dab5c671	3.0.0	2021-09-13 12:17:47 +02:00
Pablo Garrido	e85eccb7c0	Changelog	2021-09-13 12:14:35 +02:00
Your Name	ac9f09b656	1.0.1	2021-09-13 11:45:28 +02:00
Pablo Garrido	7ffd5f0bb6	Changelog	2021-09-13 11:45:14 +02:00
Pablo Garrido	ceb1a1436c	Remove XRCE dependency and add superbuild (#97 ) Update package info Update Fix xrceagent paths Update Revert "Bump version" This reverts commit 7b6b713041405a21d701952ef1eb2e8faab2802e. Initial	2021-09-13 10:39:52 +02:00
mergify[bot]andmecarill	c98705319f	Fixed launch file by using a list for arguments. Ensures order of items is kept. (#93 ) (#94 ) 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 09:14:01 +02:00
Antonio Cuadros	d149bb7018	Modify argument type (#91 )	2021-08-23 13:52:17 +02:00
Pablo Garrido	646ca52aab	Fix graph manager datawriters behaviour (#84 ) * Fix graph manager datawriters Fixes Fix Fix destruction * Revert "Fix graph manager datawriters" This reverts commit `2847a2ebc3`. * Initial	2021-07-09 13:36:31 +02:00
Pablo Garrido	95fecd77ae	Graph manager: Fix participant mask for listener callbacks (#81 )	2021-07-08 15:21:01 +02:00
Pablo GarridoandYour Name	69f17c28a8	Fix agent launch (#78 ) Co-authored-by: Your Name <you@example.com>	2021-07-05 10:49:11 +02:00
Pablo Garrido	f6a2aa3b60	Fix graph manager node namespaces (#75 ) * Fix graph manager node namespaces * Update	2021-07-02 13:28:22 +02:00
Pablo Garrido	a623308505	Fix graph manager node namespaces (#72 )	2021-07-02 09:44:20 +02:00
Pablo Garrido	e133754746	Fix Rolling agent (#61 ) * Initial * Remove deprecated FastDDS entities methods Remove headers * Add conversion functions	2021-06-21 16:15:47 +02:00