eProsima · rsanchez15 · Jun 15, 2023 · May 29, 2023 · Jun 15, 2021 · Jun 16, 2021
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -20,31 +20,32 @@ jobs:
   ros2-sh_CI:
     strategy:
       matrix:
-        node: [foxy, galactic]
+        ros2_version: [foxy, galactic, humble]
+        sh_mode: [static, dynamic]
 
-    runs-on: ubuntu-20.04
-    container: ros:${{ matrix.node }}
+    runs-on: ubuntu-22.04
+    container: ros:${{ matrix.ros2_version }}
 
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           path: src/ros2-sh
 
       - name: Download required dependencies
         run: |
           apt update
-          DEBIAN_FRONTEND=noninteractive apt install -y cmake gcc g++ git libboost-dev libboost-program-options-dev libyaml-cpp-dev ros-${{ matrix.node }}-rmw-fastrtps-cpp
+          DEBIAN_FRONTEND=noninteractive apt install -y cmake gcc g++ git libboost-dev libboost-program-options-dev libyaml-cpp-dev ros-${{ matrix.ros2_version }}-rmw-fastrtps-cpp
 
       - name: Download the Integration Service
         run: |
-          git clone --recursive https://github.com/eProsima/Integration-Service src/integration-service
+          git clone https://github.com/eProsima/Integration-Service src/integration-service
 
       - name: Build
         run: |
-          . /opt/ros/${{ matrix.node }}/setup.sh
-          colcon build --cmake-args -DCMAKE_BUILD_TYPE=DEBUG -DBUILD_ROS2_TESTS=ON --event-handlers console_direct+
+          /ros_entrypoint.sh colcon build --cmake-args -DCMAKE_BUILD_TYPE=DEBUG -DBUILD_ROS2_TESTS=ON -DIS_ROS2_SH_MODE=${{ matrix.sh_mode }} --event-handlers console_direct+
 
       - name: Test
         run: |
-          . /opt/ros/${{ matrix.node }}/setup.sh && . install/local_setup.sh && RMW_IMPLEMENTATION=rmw_fastrtps_cpp colcon test --packages-select is-ros2 --event-handlers console_direct+
+          . install/setup.sh
+          RMW_IMPLEMENTATION=rmw_fastrtps_cpp colcon test --packages-select is-ros2 --event-handlers console_direct+
           colcon test-result
diff --git a/README.md b/README.md
@@ -23,22 +23,38 @@ implementation for the *xTypes* protocol, that is, [eProsima xTypes](https://git
 
 <a href="https://docs.ros.org/en/foxy/"><img src="docs/images/ros2_logo.png" align="left" hspace="8" vspace="0" width="90"></a>
 
-This repository contains the source code of *Integration Service* **System Handle**
+This repository contains the source code of *Integration Service* **System Handles**
 for the [ROS 2](https://docs.ros.org/en/foxy) middleware protocol, widely used in the robotics field.
+Two implementations can be distinguished: **static** one based on *ROS 2* `rclcpp` and **dynamic** one based on *Fast DDS* (by the moment it is only available for the Publisher-Subscriber paradigm).
 
-This *System Handle* can be used for two main purposes:
+This *System Handles* can be used for two main purposes:
 
 1. Connection between a *ROS 2* application and an application running over a different middleware implementation.
   This is the classic use-case approach for *Integration Service*.
 
 1. Connecting two *ROS 2* applications running under different Domain IDs.
 
+The main advantages of the *Dynamic ROS 2 System Handle* over the *Static ROS 2 System Handle* are the following ones:
+
+1. It allows using types defined by *IDL* without previously generating and installing the ROS 2 Type
+  Support for that type, which gives it a greater versatility with respect to the *Static ROS 2 System
+  Handle*.
+
+1. It is not necessary to decide which ROS 2 builtin types you are going to use during the compilation
+  phase, as it allows you to use any of them.
+
 ## Dependencies
 
-This section provides a list of the dependencies needed in order to compile *ROS 2 System Handle*.
+This section provides a list of the dependencies needed in order to compile *ROS 2 System Handles*.
+
+**Static ROS 2 System Handle**
 
 * [ROS 2](https://docs.ros.org/en/foxy/Installation.html): *Foxy/Galactic ROS 2* distribution.
 
+**Dynamic ROS 2 System Handle**
+
+* [Fast DDS](https://github.com/eProsima/Fast-DDS#installation-guide): eProsima C++ implementation for DDS.
+
 ## Configuration
 
 *Integration Service* is configured by means of a YAML configuration file, which specifies
@@ -51,7 +67,7 @@ To get a more precise idea on how these YAML files have to be filled and which f
 in order to succesfully configure and launch an *Integration Service* project, please refer to the
 [dedicated configuration section](https://integration-service.docs.eprosima.com/en/latest/user_manual/yaml_config.html) of the official documentation.
 
-Regarding the *ROS 2 System Handle*, there are several specific parameters which can be configured
+Regarding the *ROS 2 System Handles*, there are several specific parameters which can be configured
 for the ROS 2 middleware. All of these parameters are optional, and fall as suboptions of the main
 five sections described in the *Configuration* chapter of the *Integration Service* repository:
 
@@ -118,18 +134,31 @@ five sections described in the *Configuration* chapter of the *Integration Servi
     * `reliability`: This QoS indicates the level of reliability offered and requested by the service.
       There are two possible values: `RELIABLE` and `BEST_EFFORT`.
 
+  The *Dynamic ROS 2 System Handle* has an additional parameter:
+
+  ```yaml
+    systems:
+      ros2:
+        type: ros2_dynamic
+        namespace: "/"
+        node_name: "my_ros2_node"
+        domain: 4
+        using: [std_msgs/String, geometry_msgs]
+    ```
+  * `using`: List of the *ROS 2* builtin types or packages that want to be used in the communication.
+
 ## Examples
 
-There are several *Integration Service* examples using the *ROS 2 System Handle* available
+There are several *Integration Service* examples using the *Static ROS 2 System Handle* available
 in the project's [main source code repository]([https://](https://github.com/eProsima/Integration-Service/tree/main/examples)).
 
-Some of these examples, where the *ROS 2 System Handle* plays a different role in each of them, are introduced here.
+Some of these examples, where the *Static ROS 2 System Handle* plays a different role in each of them, are introduced here.
 
 <a href="https://integration-service.docs.eprosima.com/en/latest/examples/different_protocols/pubsub/ros1-ros2.html"><img align="left" width="15" height="38" src="https://via.placeholder.com/15/40c15d/000000?text=+" alt="Green icon"></a>
 
 ### ROS 2 - ROS 1 bridge  (publisher - subscriber)
 
-In this example, *Integration Service* uses both this *ROS 2 System Handle* and the *ROS 1 System Handle*
+In this example, *Integration Service* uses both this *Static ROS 2 System Handle* and the *ROS 1 System Handle*
 to transmit data coming from a ROS 2 publisher into the ROS 1 data space, so that it can be
 consumed by a ROS 1 subscriber on the same topic, and viceversa.
 
@@ -147,7 +176,7 @@ For a detailed step by step guide on how to build and test this example, please
 
 ### ROS 2 - DDS bridge  (publisher - subscriber)
 
-In this example, *Integration Service* uses both this *ROS 2 System Handle* and the *Fast DDS System Handle*
+In this example, *Integration Service* uses both this *Static ROS 2 System Handle* and the *Fast DDS System Handle*
 to transmit data coming from a ROS 2 publisher into the DDS data space, so that it can be
 consumed by a Fast DDS subscriber on the same topic, and viceversa.
 
@@ -165,7 +194,7 @@ For a detailed step by step guide on how to build and test this example, please
 
 ### ROS 2 - WebSocket bridge  (publisher - subscriber)
 
-In this example, *Integration Service* uses both this *ROS 2 System Handle* and the *WebSocket System Handle*
+In this example, *Integration Service* uses both this *Static ROS 2 System Handle* and the *WebSocket System Handle*
 to transmit data coming from a ROS 2 publisher to a WebSocket Client, and viceversa.
 
 <p align="center">
@@ -182,7 +211,7 @@ For a detailed step by step guide on how to build and test this example, please
 
 ### ROS 2 - FIWARE bridge  (publisher - subscriber)
 
-In this example, *Integration Service* uses both this *ROS 2 System Handle* and the *FIWARE System Handle*
+In this example, *Integration Service* uses both this *Static ROS 2 System Handle* and the *FIWARE System Handle*
 to transmit data coming from a ROS 2 publisher and update them in a FIWARE Context Broker MongoDB database, and viceversa.
 
 <p align="center">
@@ -200,7 +229,7 @@ For a detailed step by step guide on how to build and test this example, please
 
 ### ROS 2 service server
 
-In this example, the *ROS 2 System Handle* tackles the task of bridging a ROS 2 server with one or more client applications,
+In this example, the *Static ROS 2 System Handle* tackles the task of bridging a ROS 2 server with one or more client applications,
 playing the role of a service server capable of processing incoming requests from several middlewares (*DDS*, *ROS1*,
 *WebSocket*) and producing an appropriate answer for them.
 
@@ -254,7 +283,7 @@ For a detailed step by step guide on how to build and test this example, please
 
 Besides the [global compilation flags](https://integration-service.docs.eprosima.com/en/latest/installation_manual/installation.html#global-compilation-flags) available for the
 whole *Integration Service* product suite, there are some specific flags which apply only to the
-*ROS 2 System Handle*; they are listed below:
+*ROS 2 System Handles*; they are listed below:
 
 * `BUILD_ROS2_TESTS`: Allows to specifically compile the *ROS 2 System Handle* unitary and
   integration tests; this is useful to avoid compiling each *System Handle's* test suite present
@@ -265,6 +294,10 @@ whole *Integration Service* product suite, there are some specific flags which a
   ~/is_ws$ colcon build --cmake-args -DBUILD_ROS2_TESTS=ON
   ```
 
+* `IS_ROS2_SH_MODE`: This flag is to decide which *ROS 2 System Handle* mode will be compiled, as the static and dynamic modes are exclusive which means that they cannot be compiled at the same time. It accepts two different values: `static` or `dynamic`.
+
+The following flags are only applicable for the *Static ROS 2 System Handle*:
+
 * `MIX_ROS_PACKAGES`: It accepts as an argument a list of [ROS packages](https://index.ros.org/packages/),
   such as `std_msgs`, `geometry_msgs`, `sensor_msgs`, `nav_msgs`... for which the required transformation
   library to convert the specific ROS 2 type definitions into *xTypes*, and the other way around, will be built.
@@ -299,7 +332,7 @@ whole *Integration Service* product suite, there are some specific flags which a
 
 ## Documentation
 
-The official documentation for the *ROS 2 System Handle* is included within the official *Integration Service*
+The official documentation for the *ROS 2 System Handles* is included within the official *Integration Service*
 documentation, hosted by [Read the Docs](https://integration-service.docs.eprosima.com/), and comprises the following sections:
 
 * [Installation Manual](https://integration-service.docs.eprosima.com/en/latest/installation_manual/installation_manual.html)

diff --git a/ros2/CMakeLists.txt b/ros2/CMakeLists.txt
@@ -26,124 +26,26 @@ project(is-ros2 VERSION "3.1.0" LANGUAGES CXX)
 # Configure options
 ###################################################################################
 option(BUILD_LIBRARY "Compile the ROS 2 SystemHandle" ON)
+set(IS_ROS2_SH_MODE "Static" CACHE STRING "Select the ROS 2 SystemHandle Mode")
 
 ###################################################################################
-# Load external CMake Modules.
+# Build ROS2 Static SH or ROS2 Dynamic SH
 ###################################################################################
-if(BUILD_LIBRARY)
-    set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${SANITIZERS_ROOT}/cmake)
+set(IS_ROS2_SH_MODE_LOWERCASE "" CACHE STRING "Build mode to lowercase")
+string(TOLOWER "${IS_ROS2_SH_MODE}" IS_ROS2_SH_MODE_LOWERCASE)
 
-    find_package(Sanitizers QUIET)
-
-    if(SANITIZE_ADDRESS)
-        message(STATUS "Preloading AddressSanitizer library could be done using \"${ASan_WRAPPER}\" to run your program.")
-    endif()
-endif()
-
-###################################################################################
-# External dependencies for the Integration Service ROS 2 SystemHandle library
-###################################################################################
-if(BUILD_LIBRARY)
-    find_package(is-core REQUIRED)
-    find_package(rclcpp REQUIRED)
-endif()
-
-###################################################################################
-# Configure the Integration Service ROS 2 SystemHandle library
-###################################################################################
-if(BUILD_LIBRARY)
-    add_library(${PROJECT_NAME}
-        SHARED
-            src/Factory.cpp
-            src/MetaPublisher.cpp
-            $<IF:$<VERSION_GREATER:${rclcpp_VERSION},2.4.2>,src/SystemHandle.cpp,src/SystemHandle__foxy.cpp>
-        )
-
-    if (Sanitizers_FOUND)
-        add_sanitizers(${PROJECT_NAME})
-    endif()
-
-    set_target_properties(${PROJECT_NAME} PROPERTIES
-        VERSION
-            ${PROJECT_VERSION}
-        SOVERSION
-            ${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}
-        CXX_STANDARD
-            17
-        CXX_STANDARD_REQUIRED
-            YES
-        )
-
-    target_compile_options(${PROJECT_NAME}
-        PRIVATE
-            $<$<CXX_COMPILER_ID:GNU>:-pedantic>
-            $<$<CXX_COMPILER_ID:GNU>:-fstrict-aliasing>
-            $<$<CXX_COMPILER_ID:GNU>:-Wall>
-            $<$<CXX_COMPILER_ID:GNU>:-Wextra>
-            $<$<CXX_COMPILER_ID:GNU>:-Wcast-align>
-            $<$<CXX_COMPILER_ID:GNU>:-Wshadow>
-            $<$<CXX_COMPILER_ID:MSVC>:/W4>
-            $<$<CXX_COMPILER_ID:MSVC>:/wd4700>
-            $<$<CXX_COMPILER_ID:MSVC>:/wd4996>
-            $<$<CXX_COMPILER_ID:MSVC>:/wd4820>
-            $<$<CXX_COMPILER_ID:MSVC>:/wd4255>
-            $<$<CXX_COMPILER_ID:MSVC>:/wd4668>
-        )
-
-    include(GNUInstallDirs)
-    message(STATUS "Configuring [${PROJECT_NAME}]...")
-
-    target_link_libraries(${PROJECT_NAME}
-        PUBLIC
-            is::core
-            ${rclcpp_LIBRARIES}
-        )
-
-    target_include_directories(${PROJECT_NAME}
-        PUBLIC
-            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-            $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
-            ${rclcpp_INCLUDE_DIRS}
-        )
-
-    is_generate_export_header(ros2)
-
-    if (NOT rosidl_runtime_cpp_FOUND)
-        target_compile_definitions(${PROJECT_NAME}
-            PUBLIC
-                "IS_SH_ROS2__ROSIDL_GENERATOR_CPP"
-        )
+if("${IS_ROS2_SH_MODE_LOWERCASE}" STREQUAL "static")
+    add_subdirectory(static)
+    if(BUILD_TESTS OR BUILD_ROS2_TESTS)
+        enable_testing()
     endif()
-endif()
-
-###################################################################################
-# Install the Integration Service ROS 2 SystemHandle library
-###################################################################################
-if(BUILD_LIBRARY)
-    is_install_middleware_plugin(
-        MIDDLEWARE
-            ros2
-        TARGET
-            ${PROJECT_NAME}
-        DEPENDENCIES
-            rclcpp
-        )
-
-    file(
-        COPY
-            ${CMAKE_CURRENT_LIST_DIR}/include/
-        DESTINATION
-            ${CMAKE_INSTALL_PREFIX}/include/
-    )
-endif()
-
-###################################################################################
-# Integration Service ROS 2 SystemHandle tests
-###################################################################################
-if(BUILD_LIBRARY)
+elseif("${IS_ROS2_SH_MODE_LOWERCASE}" STREQUAL "dynamic")
+    add_subdirectory(dynamic)
     if(BUILD_TESTS OR BUILD_ROS2_TESTS)
-        add_subdirectory(test)
+        enable_testing()
     endif()
+else()
+    message(WARNING "Invalid mode selected. Please choose between 'static' or 'dynamic'")
 endif()
 
 ###################################################################################
@@ -160,14 +62,16 @@ if(BUILD_API_REFERENCE)
         COMMAND ${CMAKE_COMMAND} -E make_directory ${PROJECT_BINARY_DIR}/doxygen/html
         COMMENT "Creating documentation directories" VERBATIM)
 
-    set(IS_ROS2_INCLUDE_DIR "${CMAKE_SOURCE_DIR}/include/is/sh/ros2")
-    set(IS_ROS2_SOURCE_DIR "${CMAKE_SOURCE_DIR}/src")
+    set(IS_ROS2_STATIC_INCLUDE_DIR "${CMAKE_SOURCE_DIR}/static/include/is/sh/ros2")
+    set(IS_ROS2_STATIC_SOURCE_DIR "${CMAKE_SOURCE_DIR}/static/src")
+    set(IS_ROS2_DYNAMIC_INCLUDE_DIR "${CMAKE_SOURCE_DIR}/dynamic/include/is/sh/ros2")
     file(GLOB_RECURSE HPP_FILES
-        "${IS_ROS2_INCLUDE_DIR}/*.h*"
-        "${IS_ROS2_SOURCE_DIR}/*.h*")
+        "${IS_ROS2_STATIC_INCLUDE_DIR}/*.h*"
+        "${IS_ROS2_STATIC_SOURCE_DIR}/*.h*"
+        "${IS_ROS2_DYNAMIC_INCLUDE_DIR}/*.h*")
 
     # Doxygen related variables
-    set(DOXYGEN_INPUT_DIR "${IS_ROS2_INCLUDE_DIR} ${IS_ROS2_SOURCE_DIR}")
+    set(DOXYGEN_INPUT_DIR "${IS_ROS2_STATIC_INCLUDE_DIR} ${IS_ROS2_STATIC_SOURCE_DIR} ${IS_ROS2_DYNAMIC_INCLUDE_DIR}")
     set(DOXYGEN_OUTPUT_DIR "${PROJECT_BINARY_DIR}/doxygen")
     set(DOXYGEN_INDEX_FILE "${PROJECT_BINARY_DIR}/doxygen/xml/index.xml")
     set(DOXYFILE_IN "${IS_DOXYGEN_CONFIG_FILE}")
@@ -195,8 +99,8 @@ if(BUILD_API_REFERENCE)
     install(DIRECTORY ${PROJECT_BINARY_DIR}/doxygen/xml
         DESTINATION doxygen
         COMPONENT doxygen-${PROJECT_NAME})
-    set(CPACK_COMPONENT_EXAMPLES_DISPLAY_NAME "ROS2 System Handle doxygen")
+    set(CPACK_COMPONENT_EXAMPLES_DISPLAY_NAME "ROS2 System Handles doxygen")
     set(CPACK_COMPONENT_EXAMPLES_DESCRIPTION
-        "eProsima ROS2 System Handle doxygen documentation")
+        "eProsima ROS2 System Handles doxygen documentation")
     set(CPACK_COMPONENTS_ALL ${CPACK_COMPONENTS_ALL} doxygen-${PROJECT_NAME})
 endif()
diff --git a/ros2/config.hpp.in b/ros2/config.hpp.in
@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) 2021 - present Proyectos y Sistemas de Mantenimiento SL (eProsima).
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#ifndef _IS_ROS2_DISTRO_HPP_
+#define _IS_ROS2_DISTRO_HPP_
+
+namespace eprosima {
+namespace is {
+namespace sh {
+namespace ros2 {
+
+const std::string ROS2_DISTRO = "@IS_ROS2_DISTRO@";
+
+} //namespace ros2
+} //namespace is
+} //namespace sh
+} //namespace eprosima
+
+
+#endif //  _IS_ROS2_DISTRO_HPP_