Bump superbuild Micro XRCE-DDS Agent pin to v3.0.1

v3.0.0 mishandles Fast DDS 3.x's DataWriter::write() return
code (ReturnCode_t misread as bool), causing FastDDSReplier
to treat successful service replies as failed writes. Fixed
upstream in eProsima/Micro-XRCE-DDS-Agent#385.

Signed-off-by: David Laseca Perez <davidlaseca@eprosima.com>

.github/workflows/ci.yml

@@ -3,7 +3,7 @@ name: CI micro-ROS Agent
 on:
     pull_request:
       branches:
-        - 'rolling'
+        - 'jazzy'
     schedule:
       - cron: '33 6 * * *'
 
@@ -15,10 +15,10 @@ jobs:
         fail-fast: false
         matrix:
           os: [ ubuntu-latest ]
-          ros_distribution: [ rolling ]
+          ros_distribution: [ jazzy ]
           include:
             - docker_image: ubuntu:24.04
-              ros_distribution: rolling
+              ros_distribution: jazzy
       container:
         image: ${{ matrix.docker_image }}
       steps:

micro_ros_agent/CHANGELOG.rst

@@ -2,8 +2,13 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-6.0.0 (2024-05-31)
+5.0.20 (2024-10-14)
+-------------------
+* Bump micro-ROS-Agent to Fast DDS v3.0.1 (`#237 <https://github.com/micro-ROS/micro-ROS-Agent/issues/237>`_)
+
+5.0.2 (2024-05-31)
 ------------------
+* Jazzy Release
 * Bump Micro XRCE-DDS Agent (`#226 <https://github.com/micro-ROS/micro-ROS-Agent/issues/226>`_)
 
 5.0.1 (2024-01-29)

micro_ros_agent/CMakeLists.txt

@@ -35,6 +35,7 @@ find_package(microxrcedds_agent REQUIRED)
 find_package(rosidl_cmake REQUIRED)
 find_package(fastcdr REQUIRED)
 find_package(fastdds REQUIRED)
+find_package(fastrtps_cmake_module REQUIRED)
 find_package(rmw_dds_common REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rcutils REQUIRED)
@@ -62,15 +63,16 @@ target_include_directories(${PROJECT_NAME}
     include
   )
 
-target_link_libraries(${PROJECT_NAME}
+ament_target_dependencies(${PROJECT_NAME}
-  ${micro_ros_msgs_TARGETS}
+  rosidl_typesupport_fastrtps_cpp
-  ${rmw_dds_common_TARGETS}
+  rosidl_runtime_cpp
-  rmw::rmw
+  rosidl_typesupport_cpp
-  rmw_dds_common::rmw_dds_common_library
+  fastcdr
-  rmw_fastrtps_shared_cpp::rmw_fastrtps_shared_cpp
+  fastdds
-  rosidl_runtime_cpp::rosidl_runtime_cpp
+  rmw_dds_common
-  rosidl_typesupport_cpp::rosidl_typesupport_cpp
+  rmw
-  rosidl_typesupport_fastrtps_cpp::rosidl_typesupport_fastrtps_cpp
+  rmw_fastrtps_shared_cpp
+  micro_ros_msgs
   )
 
 target_link_libraries(${PROJECT_NAME}

micro_ros_agent/cmake/SuperBuild.cmake

@@ -19,14 +19,14 @@ unset(_deps)
 enable_language(C)
 enable_language(CXX)
 
-unset(microxrcedds_agent_DIR CACHE)
+unset(xrceagent_DIR CACHE)
-find_package(microxrcedds_agent 3.0.2 QUIET)
+find_package(xrceagent 3 EXACT QUIET)
-if(NOT microxrcedds_agent_FOUND)
+if(NOT xrceagent_FOUND)
-    ExternalProject_Add(microxrcedds_agent
+    ExternalProject_Add(xrceagent
             GIT_REPOSITORY
                 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
             GIT_TAG
-                v3.0.2
+                v3.0.1
             PREFIX
                 ${PROJECT_BINARY_DIR}/agent
             INSTALL_DIR
@@ -51,7 +51,6 @@ if(NOT microxrcedds_agent_FOUND)
                 -DUAGENT_BUILD_EXECUTABLE:BOOL=OFF
                 -DUAGENT_ISOLATED_INSTALL:BOOL=OFF
             )
-    list(APPEND _deps microxrcedds_agent)
 endif()
 
 # Main project.
@@ -65,5 +64,5 @@ ExternalProject_Add(micro_ros_agent
     INSTALL_COMMAND
         ""
     DEPENDS
-        ${_deps}
+        xrceagent
     )

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>6.0.0</version>
+  <version>5.0.20</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>
@@ -20,7 +20,6 @@
   <depend>rmw_fastrtps_shared_cpp</depend>
   <depend>rmw_dds_common</depend>
   <depend>micro_ros_msgs</depend>
-  <depend>microxrcedds_agent</depend>
 
   <test_depend>rosidl_typesupport_fastrtps_cpp</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>