eProsima · lauramg15 · Jun 22, 2021 · Jun 22, 2021
diff --git a/docs/_static/css/is_theme.css b/docs/_static/css/is_theme.css
@@ -71,6 +71,10 @@ src:url("Fonts/742885/39974d8a-38de-4853-a4d1-778234a08061.eot?#iefix") format("
   text-align: justify !important;
 }
 
+.wy-menu-vertical {
+  width: 320px;
+}
+
 /* Centering figures captions */
 .figure.align-center .caption{
   text-align: center !important;

diff --git a/docs/api_reference/ros2_sh/api_is_ros2_sh.rst b/docs/api_reference/ros2_sh/api_is_ros2_sh.rst
@@ -1,13 +1,15 @@
 .. _api_is_ros2_sh:
 
-ROS 2 System Handle
--------------------
+ROS 2 System Handles
+--------------------
 
 This section presents the API provided by the *Integration Service* :code:`is-ros2` library.
 
+This library contains two different implementations: :code:`static` and :code:`dynamic`, each one with a different API.
+That's why this section will be divided into two parts:
+
 .. toctree::
    :maxdepth: 1
 
-   factory
-   metapublisher
-   systemhandle
+   static/api_is_ros2_static_sh
+   dynamic/api_is_ros2_dynamic_sh
diff --git a/docs/api_reference/ros2_sh/dynamic/api_is_ros2_dynamic_sh.rst b/docs/api_reference/ros2_sh/dynamic/api_is_ros2_dynamic_sh.rst
@@ -0,0 +1,15 @@
+.. _api_is_ros2_dynamic_sh:
+
+Dynamic ROS 2 System Handle
+---------------------------
+
+This section presents the API provided by the *Integration Service* :code:`is-ros2` library when
+the *Dynamic ROS 2 System Handle* is used.
+
+.. toctree::
+   :maxdepth: 1
+
+   ros2middlewareexception
+   participant
+   publisher
+   subscriber
diff --git a/docs/api_reference/ros2_sh/dynamic/participant.rst b/docs/api_reference/ros2_sh/dynamic/participant.rst
@@ -0,0 +1,10 @@
+.. _api_ros2_dyancmic_sh_participant:
+
+.. rst-class:: api-ref
+
+Participant
+-----------
+
+.. doxygenclass:: eprosima::is::sh::ros2::Participant
+    :project: ROS2-SH
+    :members:
diff --git a/docs/api_reference/ros2_sh/dynamic/publisher.rst b/docs/api_reference/ros2_sh/dynamic/publisher.rst
@@ -0,0 +1,10 @@
+.. _api_ros2_dynamic_sh_publisher:
+
+.. rst-class:: api-ref
+
+Publisher
+---------
+
+.. doxygenclass:: eprosima::is::sh::ros2::Publisher
+    :project: ROS2-SH
+    :members:
diff --git a/docs/api_reference/ros2_sh/dynamic/ros2middlewareexception.rst b/docs/api_reference/ros2_sh/dynamic/ros2middlewareexception.rst
@@ -0,0 +1,10 @@
+.. _api_ros2_dynamic_sh_ros2middlewareexception:
+
+.. rst-class:: api-ref
+
+ROS2MiddlewareException
+-----------------------
+
+.. doxygenclass:: eprosima::is::sh::ros2::ROS2MiddlewareException
+    :project: ROS2-SH
+    :members:
diff --git a/docs/api_reference/ros2_sh/dynamic/subscriber.rst b/docs/api_reference/ros2_sh/dynamic/subscriber.rst
@@ -0,0 +1,10 @@
+.. _api_ros2_dynamic_sh_subscriber:
+
+.. rst-class:: api-ref
+
+Subscriber
+----------
+
+.. doxygenclass:: eprosima::is::sh::ros2::Subscriber
+    :project: ROS2-SH
+    :members:
diff --git a/docs/api_reference/ros2_sh/static/api_is_ros2_static_sh.rst b/docs/api_reference/ros2_sh/static/api_is_ros2_static_sh.rst
@@ -0,0 +1,14 @@
+.. _api_is_ros2_static_sh:
+
+Static ROS 2 System Handle
+--------------------------
+
+This section presents the API provided by the *Integration Service* :code:`is-ros2` library when the
+*Static ROS 2 System Handle* is used.
+
+.. toctree::
+   :maxdepth: 1
+
+   factory
+   metapublisher
+   systemhandle
diff --git a/docs/api_reference/ros2_sh/factory.rst → .../api_reference/ros2_sh/static/factory.rst b/docs/api_reference/ros2_sh/factory.rst → .../api_reference/ros2_sh/static/factory.rst
diff --git a/docs/api_reference/ros2_sh/metapublisher.rst → ...eference/ros2_sh/static/metapublisher.rst b/docs/api_reference/ros2_sh/metapublisher.rst → ...eference/ros2_sh/static/metapublisher.rst
diff --git a/docs/api_reference/ros2_sh/systemhandle.rst → ...reference/ros2_sh/static/systemhandle.rst b/docs/api_reference/ros2_sh/systemhandle.rst → ...reference/ros2_sh/static/systemhandle.rst
diff --git a/docs/examples/different_protocols/pubsub/dds-ros2.rst b/docs/examples/different_protocols/pubsub/dds-ros2.rst
@@ -31,7 +31,7 @@ Also, to get this example working, the following requirements must be met:
 
 * Having **ROS 2** (*Foxy* or superior) installed, with the :code:`talker-listener` example working.
 
-* Having the **ROS 2 System Handle** installed. You can download it from the
+* Having the **Static ROS 2 System Handle** installed. You can download it from the
   `ROS2-SH dedicated repository <https://github.com/eProsima/ROS2-SH>`_ into the :code:`is-workspace`
   where you have *Integration Service* installed:
 

diff --git a/docs/examples/different_protocols/pubsub/fiware-ros2.rst b/docs/examples/different_protocols/pubsub/fiware-ros2.rst
@@ -25,7 +25,7 @@ Also, to get this example working, the following requirements must be met:
 
 * Having **ROS 2** (*Foxy* or superior) installed, with the :code:`talker-listener` example working.
 
-* Having the **ROS 2 System Handle** installed. You can download it from the
+* Having the **Static ROS 2 System Handle** installed. You can download it from the
   `ROS2-SH dedicated repository <https://github.com/eProsima/ROS2-SH>`_ into the :code:`is-workspace`
   where you have *eProsima Integration Service* installed:
 

diff --git a/docs/examples/different_protocols/pubsub/ros1-ros2.rst b/docs/examples/different_protocols/pubsub/ros1-ros2.rst
@@ -7,7 +7,7 @@ Another typical situation of systems using different protocols is that of
 *ROS 1* and *ROS 2*.
 
 By using *Integration Service*, this communication can be achieved with minimum user's effort.
-As both a **ROS 1 System Handle** and a *ROS 2 System Handle* already exist, the communication is straightforward.
+As both a **ROS 1 System Handle** and a *Static ROS 2 System Handle* already exist, the communication is straightforward.
 
 In the example below, we show how *Integration Service* puts into communication two :code:`pub-echo` examples, one from
 *ROS 2*, and the other from *ROS 1*.
@@ -27,7 +27,7 @@ Also, to get this example working, the following requirements must be met:
 
 * Having **ROS 2** (*Foxy* or superior) installed, with the :code:`talker-listener` example working.
 
-* Having the **ROS 2 System Handle** installed. You can download it from the
+* Having the **Static ROS 2 System Handle** installed. You can download it from the
   `ROS2-SH dedicated repository <https://github.com/eProsima/ROS2-SH>`_ into the
   :code:`is-workspace` where you have *Integration Service* installed:
 

diff --git a/docs/examples/different_protocols/pubsub/ros2-websocket.rst b/docs/examples/different_protocols/pubsub/ros2-websocket.rst
@@ -24,7 +24,7 @@ Also, to get this example working, the following requirements must be met:
 
 * Having **ROS 2** (*Foxy* or superior) installed, with the :code:`talker-listener` example working.
 
-* Having the **ROS 2 System Handle** installed. You can download it from the
+* Having the **Static ROS 2 System Handle** installed. You can download it from the
   `ROS2-SH dedicated repository <https://github.com/eProsima/ROS2-SH>`_ into the :code:`is-workspace` where you have *Integration Service* installed:
 
   .. code-block:: bash

diff --git a/docs/examples/different_protocols/services/dds-server.rst b/docs/examples/different_protocols/services/dds-server.rst
@@ -80,7 +80,7 @@ Also, to get this example working, the following requirements must be met:
 
       apt install ros-$<ROS2_DISTRO>-example-interfaces
 
-* Having the **ROS 2 System Handle** installed. You can download it from the
+* Having the **Static ROS 2 System Handle** installed. You can download it from the
   `ROS2-SH dedicated repository <https://github.com/eProsima/ROS2-SH>`_ into the :code:`is-workspace`
   where you have *Integration Service* installed:
 

diff --git a/docs/examples/different_protocols/services/ros1-server.rst b/docs/examples/different_protocols/services/ros1-server.rst
@@ -82,7 +82,7 @@ Also, to get this example working, the following requirements must be met:
 
       apt install ros-$<ROS2_DISTRO>-example-interfaces
 
-* Having the **ROS 2 System Handle** installed. You can download it from the
+* Having the **Static ROS 2 System Handle** installed. You can download it from the
   `ROS2-SH dedicated repository <https://github.com/eProsima/ROS2-SH>`_ into the :code:`is-workspace`
   where you have *Integration Service* installed:
 

diff --git a/docs/examples/different_protocols/services/ros2-server.rst b/docs/examples/different_protocols/services/ros2-server.rst
@@ -81,7 +81,7 @@ Also, to get this example working, the following requirements must be met:
 
       apt install ros-$<ROS2_DISTRO>-demo-nodes-cpp
 
-* Having the **ROS 2 System Handle** installed. You can download it from the
+* Having the **Static ROS 2 System Handle** installed. You can download it from the
   `ROS2-SH dedicated repository <https://github.com/eProsima/ROS2-SH>`_ into the :code:`is-workspace`
   where you have *Integration Service* installed:
 

diff --git a/docs/examples/different_protocols/services/websocket-server.rst b/docs/examples/different_protocols/services/websocket-server.rst
@@ -80,7 +80,7 @@ Also, to get this example working, the following requirements must be met:
 
       apt install ros-$<ROS2_DISTRO>-example-interfaces
 
-* Having the **ROS 2 System Handle** installed. You can download it from the
+* Having the **Static ROS 2 System Handle** installed. You can download it from the
   `ROS2-SH dedicated repository <https://github.com/eProsima/ROS2-SH>`_ into the :code:`is-workspace`
   where you have *Integration Service* installed:
 

diff --git a/docs/examples/same_protocol/ros2_change_domain.rst b/docs/examples/same_protocol/ros2_change_domain.rst
@@ -25,7 +25,7 @@ Also, to get this example working, the following requirements must be met:
 
 * Having **ROS 2** (*Foxy* or superior) installed, with the :code:`talker-listener` example working.
 
-* Having the **ROS 2 System Handle** installed. You can download it from the `dedicated repository <https://github.com/eProsima/ROS2-SH>`_
+* Having the **Static ROS 2 System Handle** installed. You can download it from the `dedicated repository <https://github.com/eProsima/ROS2-SH>`_
   into the :code:`is-workspace` where you have *Integration Service* installed:
 
   .. code-block:: bash

diff --git a/docs/examples/wan_communication/wan_tcp_dds.rst b/docs/examples/wan_communication/wan_tcp_dds.rst
@@ -47,7 +47,7 @@ Also, to get this example working, the following requirements must be met in bot
 
 * Having **ROS 2** (*Foxy* or superior) installed, with the :code:`talker-listener` example working.
 
-* Having the **ROS 2 System Handle** installed. You can download it from the
+* Having the **Static ROS 2 System Handle** installed. You can download it from the
   `ROS2-SH dedicated repository <https://github.com/eProsima/ROS2-SH>`_ into the :code:`is-workspace` where you have *Integration Service* installed:
 
   .. code-block:: bash

diff --git a/docs/installation_manual/external_dep.rst b/docs/installation_manual/external_dep.rst
@@ -115,7 +115,7 @@ The *ROS 1 System Handle* has the following requirements:
 
 :raw-html:`<h4>ROS 2 System Handle</h4>`
 
-The *ROS 2 System Handle* has the following requirements:
+The *Static ROS 2 System Handle* has the following requirements:
 
 .. list-table::
   :header-rows: 1
@@ -129,6 +129,19 @@ The *ROS 2 System Handle* has the following requirements:
     - `Foxy installation guide <https://docs.ros.org/en/foxy/Installation.html>`_ :raw-html:`<br />`
       `Galactic installation guide <https://docs.ros.org/en/galactic/Installation.html>`_
 
+The *Dynamic ROS 2 System Handle* has the following requirements:
+
+.. list-table::
+  :header-rows: 1
+  :width: 100%
+
+  * - Dependency
+    - Description
+    - Installation
+  * - `FastDDS (v2.0.0 or superior) <https://github.com/eProsima/Fast-DDS>`_
+    - eProsima C++ implementation for *DDS*.
+    - `Binaries installation guide <https://fast-dds.docs.eprosima.com/en/latest/installation/binaries/binaries_linux.html>`_ :raw-html:`<br />`
+      `Sources installation guide <https://fast-dds.docs.eprosima.com/en/latest/installation/sources/sources_linux.html>`_
 
 :raw-html:`<h4>WebSocket System Handle</h4>`
 

diff --git a/docs/introduction.rst b/docs/introduction.rst
@@ -73,7 +73,7 @@ Available *System Handles* up-to-date are listed below:
       - https://github.com/eProsima/FIWARE-SH
     * - **ROS 1 System Handle**
       - https://github.com/eProsima/ROS1-SH
-    * - **ROS 2 System Handle**
+    * - **ROS 2 System Handles**
       - https://github.com/eProsima/ROS2-SH
     * - **WebSocket System Handle**
       - https://github.com/eProsima/WebSocket-SH

diff --git a/docs/spelling_wordlist.txt b/docs/spelling_wordlist.txt
@@ -40,6 +40,7 @@ Noetic
 nullptr
 ostream
 parameterizable
+preprocess
 preprocessor
 QoS
 remappings

diff --git a/docs/user_manual/systemhandle/ros1_sh.rst b/docs/user_manual/systemhandle/ros1_sh.rst
@@ -89,7 +89,7 @@ whole *Integration Service* product suite, there are some specific flags which a
 * :code:`MIX_ROS_PACKAGES`: It accepts as an argument a list of `ROS packages <https://index.ros.org/packages/>`_,
   such as :code:`std_msgs`, :code:`geometry_msgs`, :code:`sensor_msgs`, :code:`nav_msgs`...
   for which the required transformation library to convert the specific *ROS 1* type definitions into *xTypes*,
-  and the other way around, will be built. This list is shared with the `ROS 2 System Handle <https://github.com/eProsima/ROS2-SH#compilation-flags>`_,
+  and the other way around, will be built. This list is shared with the `Static ROS 2 System Handle <https://github.com/eProsima/ROS2-SH#compilation-flags>`_,
   meaning that the ROS packages specified in the `MIX_ROS_PACKAGES` variable will also be built for *ROS 2*
   if the corresponding *System Handle* is present within the *Integration Service* workspace.
   To avoid possible errors, if a certain package is only present in *ROS 1*,
@@ -114,7 +114,7 @@ whole *Integration Service* product suite, there are some specific flags which a
   allowing to compile specific *ROS 1* packages independently.
 
   For example, if a user wants to compile a certain package `dummy_msgs` independently from *ROS 1*,
-  but compiling `std_msgs` and `geometry_msgs` for both the *ROS 1* and *ROS 2 System Handles*,
+  but compiling `std_msgs` and `geometry_msgs` for both the *ROS 1* and *Static ROS 2 System Handle*,
   the following command should be executed:
 
   .. code-block:: bash

diff --git a/docs/user_manual/systemhandle/ros2_sh.rst b/docs/user_manual/systemhandle/ros2_sh.rst
@@ -1,30 +1,50 @@
 .. _ros2_sh:
 
-ROS 2 System Handle
-===================
+ROS 2 System Handles
+====================
 
-The *ROS 2 System Handle* can be used for two main purposes:
+The *ROS 2 System Handles* can be used for two main purposes:
 
 * Connection between a *ROS 2* application and an application running over a different middleware implementation.
   This is the classic use-case for *Integration Service*.
 
 * Connecting two *ROS 2* applications running under different Domain IDs.
 
+Two implementations can be distinguished: *static* one based on *ROS 2* :code:`rclcpp` and *dynamic* one based on *Fast DDS*
+(by the moment it is only available for the Publisher-Subscriber paradigm).
+
+The main advantages of the *Dynamic ROS 2 System Handle* over the *Static ROS 2 System Handle* are the following ones:
+
+* 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*.
+
+* It is not necessary to decide which *ROS 2 Built-in Types* you are going to use during the compilation phase,
+  as it allows you to use any of them.
+
+
 Dependencies
 ^^^^^^^^^^^^
 
-The only dependency of this *System Handle* is to have a ROS 2 installation (`Foxy <https://docs.ros.org/en/foxy/Installation.html>`_ or superior) in your system.
+Depending on the *ROS 2 System Handle* mode that wants to be used the list of dependencies varies.
+
+**Static ROS 2 System Handle**
+
+  The only dependency is to have a ROS 2 installation (`Foxy <https://docs.ros.org/en/foxy/Installation.html>`_ or superior) in your system.
+
+**Dynamic ROS 2 System Handle**
+
+  The only dependency is to have a `Fast DDS installation <https://fast-dds.docs.eprosima.com/en/latest/installation/binaries/binaries_linux.html>`_ (v2.0.0 or superior) in your system.
 
 Configuration
 ^^^^^^^^^^^^^
 
-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 are suboptions of the main
 five sections:
 
 * :code:`systems`: The system :code:`type` must be :code:`ros2`. In addition to the
   :code:`type` and :code:`types-from` fields,
-  the *ROS 2 System Handle* accepts the following specific configuration fields:
+  the *ROS 2 System Handles* accept the following specific configuration fields:
 
   .. code-block:: yaml
 
@@ -42,11 +62,25 @@ five sections:
   * :code:`domain`: Provides with an easy way to change the *Domain ID* of the ROS 2 entities created
     by the *ROS 2 System Handle*.
 
+  The *Dynamic ROS 2 System Handle* has an additional parameter:
+
+  .. code-block:: yaml
+
+    systems:
+      ros2:
+        type: ros2
+        namespace: "/"
+        node_name: "my_ros2_node"
+        domain: 4
+        using: [std_msgs/String, geometry_msgs]
+
+  * :code:`using`: List of the *ROS 2* Built-in types or packages that want to be used in the communication.
+
 Examples
 ^^^^^^^^
 
 There are several examples that you can find in this documentation in which the
-*ROS 2 System Handle* is employed in the communication process. Some of them are presented here:
+*Static ROS 2 System Handle* is employed in the communication process. Some of them are presented here:
 
 * :ref:`ros1_ros2_bridge_pubsub`
 * :ref:`dds_ros2_bridge_pubsub`
@@ -63,7 +97,7 @@ Compilation flags
 
 Besides the :ref:`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:
 
 * :code:`BUILD_ROS2_TESTS`: Allows to specifically compile the *ROS 2 System Handle* unitary and
   integration tests. It is useful to avoid compiling each *System Handle*'section test suite present
@@ -80,6 +114,12 @@ whole *Integration Service* product suite, there are some specific flags which a
   the compilation environment; this means that if the last *ROS* environment sourced corresponds to *ROS 1*,
   the compilation process will stop and warn the user about it.
 
+* :code:`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: :code:`static` or :code:`dynamic`.
+
+The following flags are only applicable for the *Static ROS 2 System Handle*:
+
 * :code:`MIX_ROS_PACKAGES`: It accepts as an argument a list of `ROS packages <https://index.ros.org/packages/>`_,
   such as :code:`std_msgs`, :code:`geometry_msgs`, :code:`sensor_msgs`, :code:`nav_msgs`...
   for which the required transformation library to convert the specific *ROS 2* type definitions into *xTypes*,
@@ -108,7 +148,7 @@ whole *Integration Service* product suite, there are some specific flags which a
   allowing to compile specific *ROS 2* packages independently.
 
   For example, if a user wants to compile a certain package `dummy_msgs` independently from *ROS 2*,
-  but compiling `std_msgs` and `geometry_msgs` for both the *ROS 1* and *ROS 2 System Handles*,
+  but compiling `std_msgs` and `geometry_msgs` for both the *ROS 1* and *Static ROS 2 System Handle*,
   the following command should be executed:
 
   .. code-block:: bash