Initial PoC

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

.github/workflows/ci.yml

@@ -3,27 +3,27 @@ name: CI micro-ROS Agent
 on:
     pull_request:
       branches:
-        - 'jazzy'
+        - 'humble'
     schedule:
       - cron: '33 6 * * *'
 
 jobs:
 
     microros_agent_ci:
-      runs-on: ${{ matrix.os }}
+      runs-on: ubuntu-latest
       strategy:
         fail-fast: false
         matrix:
-          os: [ ubuntu-latest ]
+          os: [ ubuntu-20.04 ]
-          ros_distribution: [ jazzy ]
+          ros_distribution: [ humble ]
           include:
-            - docker_image: ubuntu:24.04
+            - docker_image: ubuntu:jammy
-              ros_distribution: jazzy
+              ros_distribution: humble
       container:
-        image: ${{ matrix.docker_image }}
+        image: ubuntu:jammy
       steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v2
-      - uses: ros-tooling/setup-ros@0.7.13
+      - uses: ros-tooling/setup-ros@0.3.2
         with:
           use-ros2-testing: false
           required-ros-distributions: ${{ matrix.ros_distribution }}
@@ -31,7 +31,7 @@ jobs:
         run: |
           apt-get install ros-${{ matrix.ros_distribution }}-micro-ros-msgs
           apt-get install ros-${{ matrix.ros_distribution }}-rmw-fastrtps-cpp
-      - uses : ros-tooling/action-ros-ci@0.4.3
+      - uses : ros-tooling/action-ros-ci@0.2.5
         with:
           package-name: "micro_ros_agent"
           target-ros2-distro: ${{ matrix.ros_distribution }}

micro_ros_agent/CHANGELOG.rst

@@ -2,30 +2,7 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-5.0.2 (2024-05-31)
+3.0.2 (2022-05-25)
-------------------
-* Jazzy Release
-* 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)

micro_ros_agent/CMakeLists.txt

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.11)
+cmake_minimum_required(VERSION 3.5)
 
 option(UROSAGENT_GENERATE_PROFILE
   "Generates agent.refs according to the .msgs provided in the .repos" OFF

micro_ros_agent/cmake/SuperBuild.cmake

@@ -26,7 +26,7 @@ if(NOT xrceagent_FOUND)
             GIT_REPOSITORY
                 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
             GIT_TAG
-                v2.4.3
+                ros2
             PREFIX
                 ${PROJECT_BINARY_DIR}/agent
             INSTALL_DIR

micro_ros_agent/include/agent/Agent.hpp

@@ -46,6 +46,7 @@ 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);
 };

micro_ros_agent/include/agent/graph_manager/graph_manager.hpp

@@ -65,7 +65,6 @@
 #include <string>
 #include <memory>
 #include <map>
-#include <thread>
 
 namespace uros {
 namespace agent {
@@ -81,7 +80,7 @@ public:
     /**
      * @brief   Default constructor.
      */
-    GraphManager(eprosima::fastdds::dds::DomainId_t domain_id);
+    GraphManager(eprosima::fastdds::dds::DomainId_t domain_id, std::string namespace_remapping);
 
     /**
      * @brief   Default destructor.
@@ -112,12 +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.
@@ -281,6 +274,7 @@ 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_;
@@ -306,7 +300,7 @@ 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_;
 };
 

micro_ros_agent/package.xml

@@ -2,10 +2,10 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>micro_ros_agent</name>
-  <version>5.0.2</version>
+  <version>3.0.2</version>
   <description>micro-ROS Agent package</description>
-  <maintainer email="eugeniocollado@eprosima.com">Eugenio Collado</maintainer>
+  <maintainer email="pablogarrido@eprosima.com">Pablo Garrido</maintainer>
-  <maintainer email="davidlaseca@eprosima.com">David Laseca</maintainer>
+  <maintainer email="antoniocuadros@eprosima.com">Antonio Cuadros</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>

micro_ros_agent/src/agent/Agent.cpp

@@ -33,6 +33,17 @@ 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)
     {
         /**
@@ -293,7 +304,6 @@ 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);
 
     if (it != graph_manager_map_.end()) {
@@ -302,7 +312,7 @@ auto it = graph_manager_map_.find(domain_id);
         return graph_manager_map_.insert(
             std::make_pair(
                 domain_id,
-                std::make_shared<graph_manager::GraphManager>(domain_id)
+                std::make_shared<graph_manager::GraphManager>(domain_id, namespace_remapping)
             )
         ).first->second;
     }

micro_ros_agent/src/agent/graph_manager/graph_manager.cpp

@@ -26,8 +26,9 @@ namespace uros {
 namespace agent {
 namespace graph_manager {
 
-GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
+GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id, std::string namespace_remapping)
     : domain_id_(domain_id)
+    , namespace_remapping_(namespace_remapping)
     , graph_changed_(false)
     , display_on_change_(false)
     , mtx_()
@@ -125,11 +126,9 @@ 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 +145,6 @@ inline void GraphManager::publish_microros_graph()
             {
                 return this->graph_changed_;
             });
-            graph_changed_ = false;
         }
 
         if (display_on_change_)
@@ -154,6 +152,7 @@ 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;
 
@@ -315,6 +314,8 @@ 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);
 
@@ -322,10 +323,11 @@ 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 +347,8 @@ 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(
@@ -357,7 +358,10 @@ 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();
-    this->add_datawriter(datawriter_guid, topic_name, type_name,
+
+    auto remapped_topic_name = namespace_remapping_ + "/" + topic_name;
+
+    this->add_datawriter(datawriter_guid, remapped_topic_name, type_name,
         participant->guid(), datawriter->get_qos());
 }
 
@@ -374,8 +378,10 @@ void GraphManager::add_datawriter(
         "rmw_fastrtps_cpp", participant_guid);
     const rmw_qos_profile_t qos_profile = fastdds_qos_to_rmw_qos(writer_qos);
 
-    graphCache_.add_entity(datawriter_gid, topic_name, type_name,
+     auto remapped_topic_name = namespace_remapping_ + "/" + topic_name;
-        rosidl_get_zero_initialized_type_hash(), participant_gid, qos_profile, false);
+
+    graphCache_.add_entity(datawriter_gid, remapped_topic_name,
+        type_name, participant_gid, qos_profile, false);
 }
 
 void GraphManager::remove_datawriter(
@@ -411,13 +417,8 @@ void GraphManager::add_datareader(
         "rmw_fastrtps_cpp", participant_guid);
     const rmw_qos_profile_t qos_profile = fastdds_qos_to_rmw_qos(reader_qos);
 
-    // TODO(acuadros95): Use typesupport to calculate type hash on micro-ROS and save and get it from reader_qos.user_data.
+    graphCache_.add_entity(datareader_gid, topic_name,
-    // Related PRs:
+        type_name, participant_gid, qos_profile, true);
-    // 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(
@@ -448,6 +449,7 @@ 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;
@@ -456,6 +458,7 @@ 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;
@@ -604,7 +607,7 @@ 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)
@@ -621,15 +624,13 @@ 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_->add_participant(participant, false, enclave);
-            graphManager_from_->get_graph_cache().add_participant(gid, 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_->remove_participant(participant, false);
-            graphManager_from_->get_graph_cache().remove_participant(gid);
             break;
         }
         default:

micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp

@@ -54,14 +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::DDS_CDR);
+        eprosima::fastcdr::Cdr::DDS_CDR);
 
     scdr.serialize_encapsulation();
     if (callbacks_->cdr_serialize(data, scdr))
     {
         payload->encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
             CDR_BE : CDR_LE;
-        payload->length = static_cast<uint32_t>(scdr.get_serialized_data_length());
+        payload->length = static_cast<uint32_t>(scdr.getSerializedDataLength());
         return true;
     }
     else
@@ -77,7 +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::DDS_CDR);
+        eprosima::fastcdr::Cdr::DDS_CDR);
 
     dcdr.read_encapsulation();
     return callbacks_->cdr_deserialize(dcdr, data);
@@ -146,14 +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::DDS_CDR);
+        eprosima::fastcdr::Cdr::DDS_CDR);
 
     scdr.serialize_encapsulation();
     if (callbacks_->cdr_serialize(data, scdr))
     {
         payload->encapsulation = (scdr.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS) ?
             CDR_BE : CDR_LE;
-        payload->length = static_cast<uint32_t>(scdr.get_serialized_data_length());
+        payload->length = static_cast<uint32_t>(scdr.getSerializedDataLength());
         return true;
     }
     else
@@ -169,7 +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::DDS_CDR);
+        eprosima::fastcdr::Cdr::DDS_CDR);
 
     dcdr.read_encapsulation();
     return callbacks_->cdr_deserialize(dcdr, data);