Revert "Fix 'microxrcedds_agent' name and dependency (backport #279) (#282)" (#285)

This reverts commit 8a667600dc.

.github/workflows/ci.yml

@@ -3,24 +3,24 @@ 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 ]
-          ros_distribution: [ jazzy ]
+          os: [ ubuntu-20.04 ]
+          ros_distribution: [ humble ]
           include:
-            - docker_image: ubuntu:24.04
-              ros_distribution: jazzy
+            - docker_image: ubuntu:jammy
+              ros_distribution: humble
       container:
-        image: ${{ matrix.docker_image }}
+        image: ubuntu:jammy
       steps:
       - uses: actions/checkout@v4
       - uses: ros-tooling/setup-ros@0.7.13

micro_ros_agent/CHANGELOG.rst

@@ -2,30 +2,23 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-5.0.2 (2024-05-31)
+3.0.6 (2024-01-29)
 ------------------
-* Jazzy Release
-* Bump Micro XRCE-DDS Agent (`#226 <https://github.com/micro-ROS/micro-ROS-Agent/issues/226>`_)
+* Fix thread include (backport `#216 <https://github.com/micro-ROS/micro-ROS-Agent/issues/216>`_) (`#217 <https://github.com/micro-ROS/micro-ROS-Agent/issues/217>`_)
 
-5.0.1 (2024-01-29)
+3.0.5 (2023-06-06)
 ------------------
-* 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)
+3.0.4 (2022-09-28)
 ------------------
-* Add empty type key hash to GraphCache (`#189 <https://github.com/micro-ROS/micro-ROS-Agent/issues/189>`_)
-* Contributors: Antonio Cuadros
+* Fix Datawriter destruction (`#169 <https://github.com/micro-ROS/micro-ROS-Agent/issues/169>`_)
+* Synchronise predicate (`#160 <https://github.com/micro-ROS/micro-ROS-Agent/issues/160>`_)
 
-4.0.2 (2022-09-28)
+3.0.3 (2022-06-13)
 ------------------
-* 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>`_)
+* Fix memory leak in graph manager (`#147 <https://github.com/micro-ROS/micro-ROS-Agent/issues/147>`_)
 
-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)
+3.0.2 (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
+                v2.4.2
             PREFIX
                 ${PROJECT_BINARY_DIR}/agent
             INSTALL_DIR

micro_ros_agent/package.xml

@@ -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>5.0.2</version>
+  <version>3.0.6</version>
   <description>micro-ROS Agent package</description>
   <maintainer email="eugeniocollado@eprosima.com">Eugenio Collado</maintainer>
   <maintainer email="davidlaseca@eprosima.com">David Laseca</maintainer>

micro_ros_agent/src/agent/graph_manager/graph_manager.cpp

@@ -374,8 +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, type_name,
-        rosidl_get_zero_initialized_type_hash(), participant_gid, qos_profile, false);
+    graphCache_.add_entity(datawriter_gid, topic_name,
+        type_name, participant_gid, qos_profile, false);
 }
 
 void GraphManager::remove_datawriter(
@@ -411,13 +411,8 @@ 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.
-    // 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);
+    graphCache_.add_entity(datareader_gid, topic_name,
+        type_name, participant_gid, qos_profile, true);
 }
 
 void GraphManager::remove_datareader(

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);

snap/local/fastdds_no_shared_memory.xml

@@ -0,0 +1,19 @@
+<?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>

snap/local/micro-ros-agent-daemon

@@ -24,4 +24,4 @@ if [ -n "$p2p_port" ]; then
 	set -- --p2p "$p2p_port" "$@"
 fi
 
-exec "$SNAP/lib/micro_ros_agent/micro_ros_agent" "$transport" "$@"
+exec "$SNAP/opt/ros/snap/lib/micro_ros_agent/micro_ros_agent" "$transport" "$@"

snap/snapcraft.yaml

@@ -71,16 +71,6 @@ 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:
 
@@ -120,49 +110,59 @@ architectures:
   - build-on: armhf
   - build-on: ppc64el
 
+package-repositories:
+- components: [main]
+  formats: [deb]
+  key-id: C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+  key-server: keyserver.ubuntu.com
+  suites: [focal]
+  type: apt
+  url: http://repo.ros2.org/ubuntu/main
+
 parts:
+  ros2-foxy-extension:
+    build-packages: [ros-foxy-ros-core]
+    override-build: install -D -m 0755 launch ${SNAPCRAFT_PART_INSTALL}/snap/command-chain/ros2-launch
+    plugin: nil
+    source: $SNAPCRAFT_EXTENSIONS_DIR/ros2
 
   uros-agent:
     plugin: colcon
     source: .
-    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 $SNAPCRAFT_PRIME --cmake-args "-DUAGENT_BUILD_EXECUTABLE=OFF -DUAGENT_USE_SYSTEM_FASTDDS=ON" --packages-up-to micro_ros_agent
-        set -u
+    colcon-cmake-args:
+      - -DMICROROSAGENT_SUPERBUILD=ON
+      - --cmake-force-configure
+    override-pull: |
+        snapcraftctl pull
+
+        version="$(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++]
     stage-packages: [ros-foxy-ros2launch]
+    build-environment:
+    - ROS_VERSION: '2'
+    - ROS_DISTRO: foxy
 
   runner:
     plugin: dump
     source: snap/local/
     organize:
-      '*': usr/bin/
-
-plugs:
-  micro-ros-agent-shm-netplug:
-    interface: system-files
-    allow-auto-connection: true
-    write:
-      - /dev/shm
+      'micro-ros-agent-daemon': usr/bin/
+      'fastdds_no_shared_memory.xml': usr/share/
 
 apps:
   micro-ros-agent:
-    command: lib/micro_ros_agent/micro_ros_agent
+    command: opt/ros/snap/lib/micro_ros_agent/micro_ros_agent
     environment:
-        LD_LIBRARY_PATH: "$LD_LIBRARY_PATH:$SNAP/lib"
-    plugs: [network, network-bind, serial-port, micro-ros-agent-shm-netplug]
-    extensions: [ros2-foxy]
+        FASTRTPS_DEFAULT_PROFILES_FILE: ${SNAP}/usr/share/fastdds_no_shared_memory.xml
+    plugs: [network, network-bind, serial-port]
 
   daemon:
     command: usr/bin/micro-ros-agent-daemon
     environment:
-        LD_LIBRARY_PATH: "$LD_LIBRARY_PATH:$SNAP/lib"
+        FASTRTPS_DEFAULT_PROFILES_FILE: ${SNAP}/usr/share/fastdds_no_shared_memory.xml
     daemon: simple
-    plugs: [network, network-bind, serial-port, micro-ros-agent-shm-netplug]
+    plugs: [network, network-bind, serial-port]