Feature/foxy migration

README.md

@@ -5,3 +5,31 @@
 
 ROS 2 package using Micro XRCE-DDS Agent.
 
+## Overview
+
+This repository contains the Micro-ROS Agent package.
+Micro-ROS Agent is a ROS 2 node that wraps the Micro XRCE-DDS Agent.
+For further information about Micro XRCE-DDS Agent click [here](https://github.com/eProsima/Micro-XRCE-DDS-Agent)
+This package is a part of the Micro-ROS project stack.
+For more information about Micro-ROS project click [here](https://microros.github.io/micro-ROS/).
+
+The node acts as a server between DDS Network and Micro-ROS nodes inside MCU.
+It receives and send messages from Micro-ROS nodes, and keep track of the Micro-ROS nodes exposing them to the ROS 2 network.
+The node interacts with DDS Global Data Space on behalf of the Micro-ROS nodes.
+
+## Package features
+
+### XML generation
+
+During the build process, the package looks for all ROS 2 messages to generate an initial list of XML profiles.
+These profiles can are referenced in the Agent-Client communication to avoid sending the full XML content.
+This reference mechanism can be switched on and off from the Micro XRCE-DDS middleware layer.
+
+### Agent-Client communication mechanism
+
+Communication between the Micro-ROS Agent and the Micro-ROS nodes supports two types of transport:
+
+- UDP and TCP over IPv4 and IPv6.
+- Serial Port transports.
+
+All available configurations are supported directly by the Micro XRCE-DDS agent.

micro_ros_agent/CMakeLists.txt

@@ -23,6 +23,7 @@ project(micro_ros_agent LANGUAGES CXX)
 
 find_package(ament_cmake REQUIRED)
 find_package(microxrcedds_agent REQUIRED)
+find_package(rosidl_cmake REQUIRED)
 
 add_executable(${PROJECT_NAME} src/main.cpp)
 
@@ -79,12 +80,11 @@ if(UROSAGENT_GENERATE_PROFILE)
   get_filename_component(_COLCON_CALL_DIR "${_COLCON_CALL_DIR}" DIRECTORY)
 
   set(_PYTHON_SCRIPT_HEAD
-    "
-    import os\n
-    import sys\n
-    sys.path.append('${_OUTPUT_PATH}')\n
-    from ${_PYTHON_PKG_TOOL} import *\n
-    "
+"import os
+import sys
+sys.path.append('${_OUTPUT_PATH}')
+from ${_PYTHON_PKG_TOOL} import *
+"
     )
 
   file(

micro_ros_agent/micro_ros_agent/__init__.py

@@ -164,38 +164,37 @@ def generate_XML(args):
             # Generate source file path
             src_file = os.path.join(srcs_dir, "%s_%s_%s.xml" % (spec.base_type.pkg_name, subfolder, spec.msg_name))
 
-
             # Data writer
-            #file_content  = "   <dds>\n"
-            file_content  = "       <data_writer profile_name=\"%s_%s_%s_p\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content  = "   <dds>\n"
+            file_content += "       <data_writer profile_name=\"%s_%s_%s_p\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
             file_content += "           <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
             file_content += "               <kind>NO_KEY</kind>\n"
             file_content += "               <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
             file_content += "               <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
             file_content += "           </topic>\n"
             file_content += "       </data_writer>\n"
-            #file_content += "   </dds>\n"
+            file_content += "   </dds>\n"
 
 
             # Data reader
-            #file_content += "   <dds>\n"
+            file_content += "   <dds>\n"
             file_content += "       <data_reader profile_name=\"%s_%s_%s_s\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
             file_content += "           <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
             file_content += "               <kind>NO_KEY</kind>\n"
             file_content += "               <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
             file_content += "               <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
             file_content += "           </topic>\n"
             file_content += "       </data_reader>\n"
-            #file_content += "   </dds>\n"
+            file_content += "   </dds>\n"
 
 
             # Topic
-            #file_content += "   <dds>\n"
+            file_content += "   <dds>\n"
             file_content += "       <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
             file_content += "           <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
             file_content += "           <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
             file_content += "       </topic>\n"
-            #file_content += "   </dds>\n"
+            file_content += "   </dds>\n"
 
 
             # Write file content

micro_ros_agent/package.xml

@@ -11,6 +11,7 @@
   <buildtool_export_depend>ament_cmake</buildtool_export_depend>
 
   <depend>microxrcedds_agent</depend>
+  <depend>rosidl_cmake</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>