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:
-        - 'rolling'
+        - '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: [ rolling ]
+          ros_distribution: [ humble ]
           include:
-            - docker_image: ubuntu:24.04
+            - docker_image: ubuntu:jammy
-              ros_distribution: rolling
+              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

@@ -2,29 +2,7 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-6.0.0 (2024-05-31)
+3.0.2 (2022-05-25)
-------------------
-* 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
@@ -34,7 +34,8 @@ find_package(ament_cmake REQUIRED)
 find_package(microxrcedds_agent REQUIRED)
 find_package(rosidl_cmake REQUIRED)
 find_package(fastcdr REQUIRED)
-find_package(fastdds REQUIRED)
+find_package(fastrtps REQUIRED)
+find_package(fastrtps_cmake_module REQUIRED)
 find_package(rmw_dds_common REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rcutils REQUIRED)
@@ -62,21 +63,22 @@ 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
+  fastrtps
-  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}
   microxrcedds_agent
   fastcdr
-  fastdds
+  fastrtps
   $<$<BOOL:$<PLATFORM_ID:Linux>>:rt>
   $<$<BOOL:$<PLATFORM_ID:Linux>>:dl>
   )

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 2 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
+                ros2
             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/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

@@ -15,25 +15,28 @@
 #ifndef _UROS_AGENT_GRAPH_MANAGER_HPP
 #define _UROS_AGENT_GRAPH_MANAGER_HPP
 
-#include "fastdds/dds/topic/TopicDataType.hpp"
+#include "fastrtps/Domain.h"
-#include "fastdds/rtps/attributes/RTPSParticipantAttributes.hpp"
+#include <fastrtps/TopicDataType.h>
-#include "fastdds/rtps/participant/RTPSParticipant.hpp"
+#include "fastrtps/attributes/ParticipantAttributes.h"
-#include "fastdds/rtps/participant/RTPSParticipantListener.hpp"
+#include "fastrtps/participant/Participant.h"
-#include "fastdds/rtps/RTPSDomain.hpp"
+#include "fastrtps/participant/ParticipantListener.h"
+#include "fastrtps/attributes/PublisherAttributes.h"
+#include "fastrtps/publisher/Publisher.h"
+#include <fastrtps/publisher/PublisherListener.h>
+#include <fastrtps/rtps/common/MatchingInfo.h>
+
 #include <fastdds/dds/domain/DomainParticipant.hpp>
 #include <fastdds/dds/domain/DomainParticipantFactory.hpp>
 #include <fastdds/dds/domain/DomainParticipantListener.hpp>
 #include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
 #include <fastdds/dds/publisher/DataWriter.hpp>
-#include <fastdds/dds/publisher/Publisher.hpp>
-#include <fastdds/dds/publisher/PublisherListener.hpp>
 #include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
+#include <fastdds/dds/publisher/Publisher.hpp>
 #include <fastdds/dds/subscriber/DataReader.hpp>
-#include <fastdds/dds/subscriber/DataReaderListener.hpp>
 #include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
 #include <fastdds/dds/subscriber/SampleInfo.hpp>
 #include <fastdds/dds/subscriber/Subscriber.hpp>
-#include <fastdds/rtps/common/MatchingInfo.hpp>
+#include <fastdds/dds/subscriber/DataReaderListener.hpp>
 
 #include "rmw/types.h"
 #include "rmw/names_and_types.h"
@@ -62,7 +65,6 @@
 #include <string>
 #include <memory>
 #include <map>
-#include <thread>
 
 namespace uros {
 namespace agent {
@@ -78,7 +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.
@@ -109,12 +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.
@@ -122,7 +118,7 @@ public:
      * @param   datawriter Pointer to the datawriter to be added.
      */
     void add_datawriter(
-            const eprosima::fastdds::rtps::GUID_t& datawriter_guid,
+            const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
             const eprosima::fastdds::dds::DomainParticipant* participant,
             const eprosima::fastdds::dds::DataWriter* datawriter);
 
@@ -135,10 +131,10 @@ public:
      * @param   writer_qos QOS of the datawriter to be included into the graph tree.
      */
     void add_datawriter(
-            const eprosima::fastdds::rtps::GUID_t& datawriter_guid,
+            const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
             const std::string& topic_name,
             const std::string& type_name,
-            const eprosima::fastdds::rtps::GUID_t& participant_guid,
+            const eprosima::fastrtps::rtps::GUID_t& participant_guid,
             const eprosima::fastdds::dds::DataWriterQos& writer_qos);
 
     /**
@@ -146,7 +142,7 @@ public:
      * @param   datawriter_guid rtps::GUID_t of the datawriter to be removed.
      */
     void remove_datawriter(
-            const eprosima::fastdds::rtps::GUID_t& datawriter_guid);
+            const eprosima::fastrtps::rtps::GUID_t& datawriter_guid);
 
     /**
      * @brief   Adds a DDS datareader to the graph tree.
@@ -155,7 +151,7 @@ public:
      * @param   datareader Pointer to the datareader to be added.
      */
     void add_datareader(
-            const eprosima::fastdds::rtps::GUID_t& datareader_guid,
+            const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
             const eprosima::fastdds::dds::DomainParticipant* participant,
             const eprosima::fastdds::dds::DataReader* datareader);
 
@@ -165,13 +161,13 @@ public:
      * @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   reader_qos QOS of the datareader to be included into the graph tree.
+     * @param   writer_qos QOS of the datareader to be included into the graph tree.
      */
     void add_datareader(
-            const eprosima::fastdds::rtps::GUID_t& datareader_guid,
+            const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
             const std::string& topic_name,
             const std::string& type_name,
-            const eprosima::fastdds::rtps::GUID_t& participant_guid,
+            const eprosima::fastrtps::rtps::GUID_t& participant_guid,
             const eprosima::fastdds::dds::DataReaderQos& reader_qos);
 
     /**
@@ -179,7 +175,7 @@ public:
      * @param   datareader_guid rtps::GUID_t of the datareader to be removed.
      */
     void remove_datareader(
-            const  eprosima::fastdds::rtps::GUID_t& datareader_guid);
+            const  eprosima::fastrtps::rtps::GUID_t& datareader_guid);
 
     /**
      * @brief   Associates a certain DDS entity with a provided participant.
@@ -188,7 +184,7 @@ public:
      * @param   entity_kind Kind of the DDS entity.
      */
     void associate_entity(
-            const eprosima::fastdds::rtps::GUID_t& entity_guid,
+            const eprosima::fastrtps::rtps::GUID_t& entity_guid,
             const eprosima::fastdds::dds::DomainParticipant* participant,
             const dds::xrce::ObjectKind& entity_kind);
 
@@ -209,28 +205,21 @@ private:
                 GraphManager* graph_manager);
     private:
 
-        template <typename DiscoveryStatus, typename Info>
+        template <typename Info>
         void process_discovery_info(
-                DiscoveryStatus reason,
                 const Info& proxyData);
 
         void on_participant_discovery(
                 eprosima::fastdds::dds::DomainParticipant* participant,
-                eprosima::fastdds::rtps::ParticipantDiscoveryStatus reason,
+                eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info) override;
-                const eprosima::fastdds::dds::ParticipantBuiltinTopicData& info,
-                bool& should_be_ignored) override;
 
-        void on_data_reader_discovery(
+        void on_subscriber_discovery(
-                eprosima::fastdds::dds::DomainParticipant* participant,
+                eprosima::fastdds::dds::DomainParticipant* /*participant*/,
-                eprosima::fastdds::rtps::ReaderDiscoveryStatus reason,
+                eprosima::fastrtps::rtps::ReaderDiscoveryInfo&& info) override;
-                const eprosima::fastdds::dds::SubscriptionBuiltinTopicData& info,
-                bool& should_be_ignored) override;
 
-        void on_data_writer_discovery(
+        void on_publisher_discovery(
-                eprosima::fastdds::dds::DomainParticipant* participant,
+                eprosima::fastdds::dds::DomainParticipant* /*participant*/,
-                eprosima::fastdds::rtps::WriterDiscoveryStatus reason,
+                eprosima::fastrtps::rtps::WriterDiscoveryInfo&& info) override;
-                const eprosima::fastdds::dds::PublicationBuiltinTopicData& info,
-                bool& should_be_ignored) override;
 
         GraphManager* graphManager_from_;
     };
@@ -285,6 +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_;
@@ -310,7 +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/include/agent/graph_manager/graph_typesupport.hpp

@@ -15,16 +15,18 @@
 #ifndef UROS_AGENT_GRAPH_PARTICIPANTS_TYPESUPPORT_HPP_
 #define UROS_AGENT_GRAPH_PARTICIPANTS_TYPESUPPORT_HPP_
 
-#include "fastdds/dds/publisher/Publisher.hpp"
+#include "fastrtps/Domain.h"
-#include "fastdds/dds/topic/TopicDataType.hpp"
+#include <fastrtps/TopicDataType.h>
-#include "fastdds/rtps/attributes/RTPSParticipantAttributes.hpp"
+#include "fastrtps/attributes/ParticipantAttributes.h"
-#include "fastdds/rtps/participant/RTPSParticipant.hpp"
+#include "fastrtps/participant/Participant.h"
-#include "fastdds/rtps/participant/RTPSParticipantListener.hpp"
+#include "fastrtps/participant/ParticipantListener.h"
-#include "fastdds/rtps/RTPSDomain.hpp"
+#include "fastrtps/attributes/PublisherAttributes.h"
+#include "fastrtps/publisher/Publisher.h"
+#include <fastrtps/publisher/PublisherListener.h>
+#include <fastrtps/rtps/common/MatchingInfo.h>
+
 #include <fastdds/dds/domain/DomainParticipant.hpp>
 #include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/dds/publisher/PublisherListener.hpp>
-#include <fastdds/rtps/common/MatchingInfo.hpp>
 
 #include "rmw/types.h"
 #include "rmw/impl/cpp/key_value.hpp"
@@ -57,31 +59,24 @@ public:
     ParticipantEntitiesInfoTypeSupport();
 
     virtual bool serialize(
-            const void* const data,
+            void* data,
-            eprosima::fastdds::rtps::SerializedPayload_t& payload,
+            eprosima::fastrtps::rtps::SerializedPayload_t* payload) override;
-            eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
     virtual bool deserialize(
-            eprosima::fastdds::rtps::SerializedPayload_t& payload,
+            eprosima::fastrtps::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    virtual uint32_t calculate_serialized_size(
+    virtual std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data,
+            void* data) override;
-            eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    virtual void* create_data() override;
+    virtual void* createData() override;
 
-    virtual void delete_data(void* data) override;
+    virtual void deleteData(void* data) override;
 
-    virtual bool compute_key(
+    virtual bool getKey(
-            eprosima::fastdds::rtps::SerializedPayload_t& payload,
+            void* data,
-            eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+            eprosima::fastrtps::rtps::InstanceHandle_t* handle,
-            bool force_md5 = false) override;
+            bool force_md5) override;
-
-    virtual bool compute_key(
-            const void* const data,
-            eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
-            bool force_md5 = false) override;
 
 private:
 
@@ -100,31 +95,24 @@ public:
     MicrorosGraphInfoTypeSupport();
 
     virtual bool serialize(
-            const void* const data,
+            void* data,
-            eprosima::fastdds::rtps::SerializedPayload_t& payload,
+            eprosima::fastrtps::rtps::SerializedPayload_t* payload) override;
-            eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
     virtual bool deserialize(
-            eprosima::fastdds::rtps::SerializedPayload_t& payload,
+            eprosima::fastrtps::rtps::SerializedPayload_t* payload,
             void* data) override;
 
-    virtual uint32_t calculate_serialized_size(
+    virtual std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data,
+            void* data) override;
-            eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    virtual void* create_data() override;
+    virtual void* createData() override;
 
-    virtual void delete_data(void* data) override;
+    virtual void deleteData(void* data) override;
 
-    virtual bool compute_key(
+    virtual bool getKey(
-            eprosima::fastdds::rtps::SerializedPayload_t& payload,
+            void* data,
-            eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+            eprosima::fastrtps::rtps::InstanceHandle_t* handle,
-            bool force_md5 = false) override;
+            bool force_md5) override;
-
-    virtual bool compute_key(
-            const void* const data,
-            eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
-            bool force_md5 = false) override;
 
 private:
 

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>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>
@@ -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>

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)
     {
         /**
@@ -122,10 +133,10 @@ 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::fastdds::rtps::InstanceHandle_t instance_handle =
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
                     datareader->get_instance_handle();
-                const eprosima::fastdds::rtps::GUID_t datareader_guid =
+                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastdds::rtps::iHandle2GUID(instance_handle);
+                    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);
@@ -148,10 +159,10 @@ 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::fastdds::rtps::InstanceHandle_t instance_handle =
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
                     datareader->get_instance_handle();
-                const eprosima::fastdds::rtps::GUID_t datareader_guid =
+                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastdds::rtps::iHandle2GUID(instance_handle);
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
                 graph_manager_->remove_datareader(datareader_guid);
             });
 
@@ -179,10 +190,10 @@ bool Agent::create(
                     datawriter->guid(), participant, dds::xrce::OBJK_DATAWRITER);
 
                 // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastdds::rtps::InstanceHandle_t instance_handle =
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
                     datareader->get_instance_handle();
-                const eprosima::fastdds::rtps::GUID_t datareader_guid =
+                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastdds::rtps::iHandle2GUID(instance_handle);
+                    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);
@@ -209,10 +220,10 @@ bool Agent::create(
                 graph_manager_->remove_datawriter(datawriter->guid());
 
                 // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastdds::rtps::InstanceHandle_t instance_handle =
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
                     datareader->get_instance_handle();
-                const eprosima::fastdds::rtps::GUID_t datareader_guid =
+                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastdds::rtps::iHandle2GUID(instance_handle);
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
                 graph_manager_->remove_datareader(datareader_guid);
             });
 
@@ -240,10 +251,10 @@ bool Agent::create(
                     datawriter->guid(), participant, dds::xrce::OBJK_DATAWRITER);
 
                 // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastdds::rtps::InstanceHandle_t instance_handle =
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
                     datareader->get_instance_handle();
-                const eprosima::fastdds::rtps::GUID_t datareader_guid =
+                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastdds::rtps::iHandle2GUID(instance_handle);
+                    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);
@@ -270,10 +281,10 @@ bool Agent::create(
                 graph_manager_->remove_datawriter(datawriter->guid());
 
                 // TODO(pablogs): Workaround for Fast-DDS bug #9977. Remove when fixed
-                const eprosima::fastdds::rtps::InstanceHandle_t instance_handle =
+                const eprosima::fastrtps::rtps::InstanceHandle_t instance_handle =
                     datareader->get_instance_handle();
-                const eprosima::fastdds::rtps::GUID_t datareader_guid =
+                const eprosima::fastrtps::rtps::GUID_t datareader_guid =
-                    eprosima::fastdds::rtps::iHandle2GUID(instance_handle);
+                    eprosima::fastrtps::rtps::iHandle2GUID(instance_handle);
                 graph_manager_->remove_datareader(datareader_guid);
             });
 
@@ -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

@@ -16,9 +16,6 @@
 #define _UROS_AGENT_GRAPH_MANAGER_CPP
 
 #include <agent/graph_manager/graph_manager.hpp>
-#include <fastdds/dds/core/detail/DDSReturnCode.hpp>
-#include <fastdds/rtps/participant/ParticipantDiscoveryInfo.hpp>
-#include <fastdds/rtps/reader/ReaderDiscoveryStatus.hpp>
 
 #include <memory>
 #include <string>
@@ -29,8 +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_()
@@ -57,9 +55,9 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
 
     participant_qos.name(enclave);
     participant_qos.wire_protocol().builtin.readerHistoryMemoryPolicy =
-        eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+        eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
     participant_qos.wire_protocol().builtin.writerHistoryMemoryPolicy =
-        eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+        eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
 
     eprosima::fastdds::dds::StatusMask par_mask = eprosima::fastdds::dds::StatusMask::none();
     participant_.reset(eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->
@@ -94,7 +92,7 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
         eprosima::fastdds::dds::HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
     datawriter_qos_.history().depth = 1;
     datawriter_qos_.endpoint().history_memory_policy =
-        eprosima::fastdds::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+        eprosima::fastrtps::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
     datawriter_qos_.publish_mode().kind =
         eprosima::fastdds::dds::PublishModeQosPolicyKind::ASYNCHRONOUS_PUBLISH_MODE;
     datawriter_qos_.reliability().kind =
@@ -116,7 +114,7 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
         eprosima::fastdds::dds::HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
     datareader_qos.history().depth = 1;
     datareader_qos.endpoint().history_memory_policy =
-        eprosima::fastdds::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+        eprosima::fastrtps::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
     datareader_qos.reliability().kind =
         eprosima::fastdds::dds::ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
     datareader_qos.durability().kind =
@@ -128,11 +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();
     });
 
@@ -149,7 +145,6 @@ inline void GraphManager::publish_microros_graph()
             {
                 return this->graph_changed_;
             });
-            graph_changed_ = false;
         }
 
         if (display_on_change_)
@@ -157,6 +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;
 
@@ -318,6 +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);
 
@@ -325,10 +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));
@@ -348,27 +347,29 @@ 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(
-        const eprosima::fastdds::rtps::GUID_t& datawriter_guid,
+        const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
         const eprosima::fastdds::dds::DomainParticipant* participant,
         const eprosima::fastdds::dds::DataWriter* 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());
 }
 
 void GraphManager::add_datawriter(
-        const eprosima::fastdds::rtps::GUID_t& datawriter_guid,
+        const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
         const std::string& topic_name,
         const std::string& type_name,
-        const eprosima::fastdds::rtps::GUID_t& participant_guid,
+        const eprosima::fastrtps::rtps::GUID_t& participant_guid,
         const eprosima::fastdds::dds::DataWriterQos& writer_qos)
 {
     const rmw_gid_t datawriter_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
@@ -377,12 +378,14 @@ 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(
-        const eprosima::fastdds::rtps::GUID_t& datawriter_guid)
+        const eprosima::fastrtps::rtps::GUID_t& datawriter_guid)
 {
     const rmw_gid_t datawriter_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
         "rmw_fastrtps_cpp", datawriter_guid);
@@ -391,7 +394,7 @@ void GraphManager::remove_datawriter(
 }
 
 void GraphManager::add_datareader(
-        const eprosima::fastdds::rtps::GUID_t& datareader_guid,
+        const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
         const eprosima::fastdds::dds::DomainParticipant* participant,
         const eprosima::fastdds::dds::DataReader* datareader)
 {
@@ -402,10 +405,10 @@ void GraphManager::add_datareader(
 }
 
 void GraphManager::add_datareader(
-        const eprosima::fastdds::rtps::GUID_t& datareader_guid,
+        const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
         const std::string& topic_name,
         const std::string& type_name,
-        const eprosima::fastdds::rtps::GUID_t& participant_guid,
+        const eprosima::fastrtps::rtps::GUID_t& participant_guid,
         const eprosima::fastdds::dds::DataReaderQos& reader_qos)
 {
     const rmw_gid_t datareader_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
@@ -414,17 +417,12 @@ 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(
-        const eprosima::fastdds::rtps::GUID_t& datareader_guid)
+        const eprosima::fastrtps::rtps::GUID_t& datareader_guid)
 {
     const rmw_gid_t datareader_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
         "rmw_fastrtps_cpp", datareader_guid);
@@ -433,7 +431,7 @@ void GraphManager::remove_datareader(
 }
 
 void GraphManager::associate_entity(
-        const eprosima::fastdds::rtps::GUID_t& entity_guid,
+        const eprosima::fastrtps::rtps::GUID_t& entity_guid,
         const eprosima::fastdds::dds::DomainParticipant* participant,
         const dds::xrce::ObjectKind& entity_kind)
 {
@@ -451,6 +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;
@@ -459,6 +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;
@@ -553,7 +553,7 @@ void GraphManager::update_node_entities_info()
     rmw_dds_common::msg::ParticipantEntitiesInfo entities_info;
     eprosima::fastdds::dds::SampleInfo sample_info;
     if (ros_discovery_datareader_->take_next_sample(&entities_info, &sample_info) ==
-        eprosima::fastdds::dds::RETCODE_OK)
+        eprosima::fastrtps::types::ReturnCode_t::RETCODE_OK)
     {
         if (sample_info.instance_state == eprosima::fastdds::dds::InstanceStateKind::ALIVE_INSTANCE_STATE)
         {
@@ -608,18 +608,13 @@ GraphManager::ParticipantListener::ParticipantListener(
 
 void GraphManager::ParticipantListener::on_participant_discovery(
         eprosima::fastdds::dds::DomainParticipant* participant,
-        eprosima::fastdds::rtps::ParticipantDiscoveryStatus reason,
+        eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info)
-        const eprosima::fastdds::dds::ParticipantBuiltinTopicData& info,
-        bool& should_be_ignored)
 {
-    static_cast<void>(participant);
+    switch (info.status)
-    static_cast<void>(should_be_ignored);
-
-    switch (reason)
     {
-        case eprosima::fastdds::rtps::ParticipantDiscoveryStatus::DISCOVERED_PARTICIPANT:
+        case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DISCOVERED_PARTICIPANT:
         {
-            auto map = rmw::impl::cpp::parse_key_value(info.user_data);
+            auto map = rmw::impl::cpp::parse_key_value(info.info.m_userData);
             auto name_found = map.find("enclave");
 
             if (map.end() == name_found)
@@ -629,15 +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.guid);
+            graphManager_from_->add_participant(participant, false, enclave);
-            graphManager_from_->get_graph_cache().add_participant(gid, enclave);
             break;
         }
-        case eprosima::fastdds::rtps::ParticipantDiscoveryStatus::REMOVED_PARTICIPANT:
+        case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT:
-        case eprosima::fastdds::rtps::ParticipantDiscoveryStatus::DROPPED_PARTICIPANT:
+        case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DROPPED_PARTICIPANT:
         {
-            const rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid("rmw_fastrtps_cpp", info.guid);
+            graphManager_from_->remove_participant(participant, false);
-            graphManager_from_->get_graph_cache().remove_participant(gid);
             break;
         }
         default:
@@ -648,133 +641,117 @@ void GraphManager::ParticipantListener::on_participant_discovery(
 }
 
 static eprosima::fastdds::dds::DataWriterQos writer_qos_conversion(
-    const eprosima::fastdds::dds::PublicationBuiltinTopicData& writer_info)
+    const eprosima::fastdds::dds::WriterQos& writer_qos)
 {
     eprosima::fastdds::dds::DataWriterQos datawriter_qos;
-    eprosima::fastdds::dds::RTPSReliableWriterQos reliable_writer_qos;
+    datawriter_qos.durability(writer_qos.m_durability);
-    reliable_writer_qos.disable_positive_acks = writer_info.disable_positive_acks;
+    datawriter_qos.durability_service(writer_qos.m_durabilityService);
-
+    datawriter_qos.deadline(writer_qos.m_deadline);
-    datawriter_qos.durability(writer_info.durability);
+    datawriter_qos.latency_budget(writer_qos.m_latencyBudget);
-    datawriter_qos.durability_service(writer_info.durability_service);
+    datawriter_qos.liveliness(writer_qos.m_liveliness);
-    datawriter_qos.deadline(writer_info.deadline);
+    datawriter_qos.reliability(writer_qos.m_reliability);
-    datawriter_qos.latency_budget(writer_info.latency_budget);
+    datawriter_qos.destination_order(writer_qos.m_destinationOrder);
-    datawriter_qos.liveliness(writer_info.liveliness);
+    datawriter_qos.lifespan(writer_qos.m_lifespan);
-    datawriter_qos.reliability(writer_info.reliability);
+    datawriter_qos.user_data(writer_qos.m_userData);
-    datawriter_qos.lifespan(writer_info.lifespan);
+    datawriter_qos.ownership(writer_qos.m_ownership);
-    datawriter_qos.user_data(writer_info.user_data);
+    datawriter_qos.ownership_strength(writer_qos.m_ownershipStrength);
-    datawriter_qos.ownership(writer_info.ownership);
+    datawriter_qos.publish_mode(writer_qos.m_publishMode);
-    datawriter_qos.ownership_strength(writer_info.ownership_strength);
+    datawriter_qos.representation(writer_qos.representation);
-    datawriter_qos.destination_order(writer_info.destination_order);
+    datawriter_qos.data_sharing(writer_qos.data_sharing);
-    datawriter_qos.reliable_writer_qos(reliable_writer_qos);
-    datawriter_qos.representation(writer_info.representation);
-    datawriter_qos.data_sharing(writer_info.data_sharing);
 
     return datawriter_qos;
 }
 
 static eprosima::fastdds::dds::DataReaderQos reader_qos_conversion(
-    const eprosima::fastdds::rtps::SubscriptionBuiltinTopicData& reader_info)
+    const eprosima::fastdds::dds::ReaderQos& reader_qos)
 {
     eprosima::fastdds::dds::DataReaderQos datareader_qos;
-    eprosima::fastdds::dds::RTPSReliableReaderQos reliable_reader_qos;
-    reliable_reader_qos.disable_positive_acks = reader_info.disable_positive_acks;
 
-    datareader_qos.durability(reader_info.durability);
+    datareader_qos.durability(reader_qos.m_durability);
-    datareader_qos.deadline(reader_info.deadline);
+    datareader_qos.deadline(reader_qos.m_deadline);
-    datareader_qos.latency_budget(reader_info.latency_budget);
+    datareader_qos.latency_budget(reader_qos.m_latencyBudget);
-    datareader_qos.lifespan(reader_info.lifespan);
+    datareader_qos.liveliness(reader_qos.m_liveliness);
-    datareader_qos.liveliness(reader_info.liveliness);
+    datareader_qos.reliability(reader_qos.m_reliability);
-    datareader_qos.reliability(reader_info.reliability);
+    datareader_qos.destination_order(reader_qos.m_destinationOrder);
-    datareader_qos.ownership(reader_info.ownership);
+    datareader_qos.user_data(reader_qos.m_userData);
-    datareader_qos.destination_order(reader_info.destination_order);
+    datareader_qos.ownership(reader_qos.m_ownership);
-    datareader_qos.user_data(reader_info.user_data);
+    datareader_qos.time_based_filter(reader_qos.m_timeBasedFilter);
-    datareader_qos.time_based_filter(reader_info.time_based_filter);
+    datareader_qos.lifespan(reader_qos.m_lifespan);
-    datareader_qos.type_consistency(reader_info.type_consistency);
+    datareader_qos.durability_service(reader_qos.m_durabilityService);
-    datareader_qos.reliable_reader_qos(reliable_reader_qos);
+    eprosima::fastdds::dds::TypeConsistencyQos consistency;
-    datareader_qos.representation(reader_info.representation);
+    consistency.type_consistency = reader_qos.type_consistency;
-    datareader_qos.data_sharing(reader_info.data_sharing);
+    datareader_qos.type_consistency(consistency);
+    datareader_qos.data_sharing(reader_qos.data_sharing);
 
     return datareader_qos;
 }
 
 template <>
-void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastdds::rtps::ReaderDiscoveryStatus, eprosima::fastdds::rtps::SubscriptionBuiltinTopicData>(
+void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtps::rtps::ReaderDiscoveryInfo>(
-        eprosima::fastdds::rtps::ReaderDiscoveryStatus reason,
+        const eprosima::fastrtps::rtps::ReaderDiscoveryInfo& reader_info)
-        const eprosima::fastdds::rtps::SubscriptionBuiltinTopicData& reader_info)
 {
-    switch (reason)
+    switch (reader_info.status)
     {
-        case eprosima::fastdds::rtps::ReaderDiscoveryStatus::CHANGED_QOS_READER:
+        case eprosima::fastrtps::rtps::ReaderDiscoveryInfo::CHANGED_QOS_READER:
         {
             return;
         }
-        case eprosima::fastdds::rtps::ReaderDiscoveryStatus::DISCOVERED_READER:
+        case eprosima::fastrtps::rtps::ReaderDiscoveryInfo::DISCOVERED_READER:
         {
-            const std::string topic_name = reader_info.topic_name.to_string();
+            const std::string topic_name = reader_info.info.topicName().to_string();
-            const std::string type_name = reader_info.type_name.to_string();
+            const std::string type_name = reader_info.info.typeName().to_string();
 
-            graphManager_from_->add_datareader(reader_info.guid, topic_name, type_name,
+            graphManager_from_->add_datareader(reader_info.info.guid(), topic_name, type_name,
-                reader_info.participant_guid, reader_qos_conversion(reader_info));
+                iHandle2GUID(reader_info.info.RTPSParticipantKey()), reader_qos_conversion(reader_info.info.m_qos));
             break;
         }
         default:
         {
-            graphManager_from_->remove_datareader(reader_info.guid);
+            graphManager_from_->remove_datareader(reader_info.info.guid());
             break;
         }
     }
 }
 
 template <>
-void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastdds::rtps::WriterDiscoveryStatus, eprosima::fastdds::rtps::PublicationBuiltinTopicData>(
+void GraphManager::ParticipantListener::process_discovery_info<eprosima::fastrtps::rtps::WriterDiscoveryInfo>(
-        eprosima::fastdds::rtps::WriterDiscoveryStatus reason,
+        const eprosima::fastrtps::rtps::WriterDiscoveryInfo& writer_info)
-        const eprosima::fastdds::rtps::PublicationBuiltinTopicData& writer_info)
 {
-    switch (reason)
+    switch (writer_info.status)
     {
-        case eprosima::fastdds::rtps::WriterDiscoveryStatus::CHANGED_QOS_WRITER:
+        case eprosima::fastrtps::rtps::WriterDiscoveryInfo::CHANGED_QOS_WRITER:
         {
             return;
         }
-        case eprosima::fastdds::rtps::WriterDiscoveryStatus::DISCOVERED_WRITER:
+        case eprosima::fastrtps::rtps::WriterDiscoveryInfo::DISCOVERED_WRITER:
         {
-            const std::string topic_name = writer_info.topic_name.to_string();
+            const std::string topic_name = writer_info.info.topicName().to_string();
-            const std::string type_name = writer_info.type_name.to_string();
+            const std::string type_name = writer_info.info.typeName().to_string();
 
-            graphManager_from_->add_datawriter(writer_info.guid, topic_name, type_name,
+            graphManager_from_->add_datawriter(writer_info.info.guid(), topic_name, type_name,
-                writer_info.participant_guid, writer_qos_conversion(writer_info));
+                iHandle2GUID(writer_info.info.RTPSParticipantKey()), writer_qos_conversion(writer_info.info.m_qos));
             break;
         }
         default:
         {
-            graphManager_from_->remove_datawriter(writer_info.guid);
+            graphManager_from_->remove_datawriter(writer_info.info.guid());
             break;
         }
     }
 }
 
-void GraphManager::ParticipantListener::on_data_reader_discovery(
+void GraphManager::ParticipantListener::on_subscriber_discovery(
-        eprosima::fastdds::dds::DomainParticipant* participant,
+        eprosima::fastdds::dds::DomainParticipant* /*participant*/,
-        eprosima::fastdds::rtps::ReaderDiscoveryStatus reason,
+        eprosima::fastrtps::rtps::ReaderDiscoveryInfo&& info)
-        const eprosima::fastdds::dds::SubscriptionBuiltinTopicData& info,
-        bool& should_be_ignored)
 {
-    static_cast<void>(participant);
+    process_discovery_info<eprosima::fastrtps::rtps::ReaderDiscoveryInfo>(info);
-    static_cast<void>(should_be_ignored);
-
-    process_discovery_info<eprosima::fastdds::rtps::ReaderDiscoveryStatus, eprosima::fastdds::rtps::SubscriptionBuiltinTopicData>(reason, info);
 }
 
-void GraphManager::ParticipantListener::on_data_writer_discovery(
+void GraphManager::ParticipantListener::on_publisher_discovery(
-        eprosima::fastdds::dds::DomainParticipant* participant,
+        eprosima::fastdds::dds::DomainParticipant* /*participant*/,
-        eprosima::fastdds::rtps::WriterDiscoveryStatus reason,
+        eprosima::fastrtps::rtps::WriterDiscoveryInfo&& info)
-        const eprosima::fastdds::dds::PublicationBuiltinTopicData& info,
-        bool& should_be_ignored)
 {
-    static_cast<void>(participant);
+    process_discovery_info<eprosima::fastrtps::rtps::WriterDiscoveryInfo>(info);
-    static_cast<void>(should_be_ignored);
-
-    process_discovery_info<eprosima::fastdds::rtps::WriterDiscoveryStatus, eprosima::fastdds::rtps::PublicationBuiltinTopicData>(reason, info);
 }
 
 GraphManager::DatareaderListener::DatareaderListener(

micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp

@@ -41,30 +41,27 @@ ParticipantEntitiesInfoTypeSupport::ParticipantEntitiesInfoTypeSupport()
         ss << message_namespace << "::";
     }
     ss << "dds_::" << message_name << "_";
-    this->set_name(ss.str().c_str());
+    this->setName(ss.str().c_str());
 
     char full_bounded;
-    max_serialized_type_size = 4 + callbacks_->max_serialized_size(full_bounded);
+    m_typeSize = 4 + callbacks_->max_serialized_size(full_bounded);
 }
 
 bool ParticipantEntitiesInfoTypeSupport::serialize(
-        const void* const data,
+        void * data,
-        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+        eprosima::fastrtps::rtps::SerializedPayload_t * payload)
-        eprosima::fastdds::dds::DataRepresentationId_t data_representation)
 {
-    static_cast<void>(data_representation);
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
-
+        payload->max_size);
-    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) ?
+        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
@@ -74,58 +71,47 @@ bool ParticipantEntitiesInfoTypeSupport::serialize(
 }
 
 bool ParticipantEntitiesInfoTypeSupport::deserialize(
-        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+        eprosima::fastrtps::rtps::SerializedPayload_t * payload,
         void * data)
 {
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload.data),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
-        payload.length);
+        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);
 }
 
-uint32_t ParticipantEntitiesInfoTypeSupport::calculate_serialized_size(
+std::function<uint32_t()> ParticipantEntitiesInfoTypeSupport::getSerializedSizeProvider(
-            const void* const data,
+        void * data)
-            eprosima::fastdds::dds::DataRepresentationId_t data_representation)
+{
+    return [data, this]() -> uint32_t
     {
-    static_cast<void>(data_representation);
-
         return static_cast<uint32_t>(4 + callbacks_->get_serialized_size(data));
+    };
 }
 
-void * ParticipantEntitiesInfoTypeSupport::create_data()
+void * ParticipantEntitiesInfoTypeSupport::createData()
 {
     return static_cast<void *>(nullptr);
 }
 
-void ParticipantEntitiesInfoTypeSupport::delete_data(
+void ParticipantEntitiesInfoTypeSupport::deleteData(
         void * data)
 {
     (void) data;
 }
 
-bool ParticipantEntitiesInfoTypeSupport::compute_key(
+bool ParticipantEntitiesInfoTypeSupport::getKey(
-        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+        void * data,
-        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+        eprosima::fastrtps::rtps::InstanceHandle_t * handle,
-        bool force_md5 /* = false */)
+        bool force_md5)
-{
-    (void) payload;
-    (void) ihandle;
-    (void) force_md5;
-    return is_compute_key_provided;
-}
-
-bool ParticipantEntitiesInfoTypeSupport::compute_key(
-        const void * const data,
-        eprosima::fastdds::rtps::InstanceHandle_t& handle,
-        bool force_md5 /* = false */)
 {
     (void) data;
     (void) handle;
     (void) force_md5;
-    return is_compute_key_provided;
+    return m_isGetKeyDefined;
 }
 
 
@@ -147,30 +133,27 @@ MicrorosGraphInfoTypeSupport::MicrorosGraphInfoTypeSupport()
         ss << message_namespace << "::";
     }
     ss << "dds_::" << message_name << "_";
-    this->set_name(ss.str().c_str());
+    this->setName(ss.str().c_str());
 
     char full_bounded;
-    max_serialized_type_size = 4 + callbacks_->max_serialized_size(full_bounded);
+    m_typeSize = 4 + callbacks_->max_serialized_size(full_bounded);
 }
 
 bool MicrorosGraphInfoTypeSupport::serialize(
-        const void* const data,
+        void * data,
-        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+        eprosima::fastrtps::rtps::SerializedPayload_t * payload)
-        eprosima::fastdds::dds::DataRepresentationId_t data_representation)
 {
-    static_cast<void>(data_representation);
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
-
+        payload->max_size);
-    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) ?
+        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
@@ -180,58 +163,47 @@ bool MicrorosGraphInfoTypeSupport::serialize(
 }
 
 bool MicrorosGraphInfoTypeSupport::deserialize(
-        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+        eprosima::fastrtps::rtps::SerializedPayload_t * payload,
         void * data)
 {
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload.data),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char *>(payload->data),
-        payload.length);
+        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);
 }
 
-uint32_t MicrorosGraphInfoTypeSupport::calculate_serialized_size(
+std::function<uint32_t()> MicrorosGraphInfoTypeSupport::getSerializedSizeProvider(
-        const void* const data,
+        void * data)
-        eprosima::fastdds::dds::DataRepresentationId_t data_representation)
+{
+    return [data, this]() -> uint32_t
     {
-    static_cast<void>(data_representation);
-
         return static_cast<uint32_t>(4 + callbacks_->get_serialized_size(data));
+    };
 }
 
-void * MicrorosGraphInfoTypeSupport::create_data()
+void * MicrorosGraphInfoTypeSupport::createData()
 {
     return static_cast<void *>(nullptr);
 }
 
-void MicrorosGraphInfoTypeSupport::delete_data(
+void MicrorosGraphInfoTypeSupport::deleteData(
         void * data)
 {
     (void) data;
 }
 
-bool MicrorosGraphInfoTypeSupport::compute_key(
+bool MicrorosGraphInfoTypeSupport::getKey(
-        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+        void * data,
-        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+        eprosima::fastrtps::rtps::InstanceHandle_t * handle,
-        bool force_md5 /* = false */)
+        bool force_md5)
-{
-    (void) payload;
-    (void) ihandle;
-    (void) force_md5;
-    return is_compute_key_provided;
-}
-
-bool MicrorosGraphInfoTypeSupport::compute_key(
-        const void* const data,
-        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
-        bool force_md5 /* = false */)
 {
     (void) data;
-    (void) ihandle;
+    (void) handle;
     (void) force_md5;
-    return is_compute_key_provided;
+    return m_isGetKeyDefined;
 }
 
 }  // namespace graph_manager