Agnocast Support

Agnocast is a rclcpp-compatible true zero-copy IPC middleware. CARET has been extended to support applications using Agnocast as an alternative to DDS, enabling the use of CARET's existing runtime recording, tracepoint filtering, and analysis capabilities with Agnocast-based systems. The usage of CARET remains unchanged when working with Agnocast-based applications.

Please refer to the following PRs for the implementations:

• tier4/caret_trace#316 - Runtime recording for Agnocast
• tier4/caret_trace#318 - Trace filtering for Agnocast
• tier4/caret_analyze#577 - Agnocast data processing and analysis
• tier4/caret_trace#326 - Runtime recording and trace filtering for Agnocast node tracepoints
• tier4/caret_analyze#587 - Agnocast node tracepoints data processing and analysis

Details

For more details on the tracepoint definitions, please refer to the following documents:

• Agnocast Initialization Tracepoints
• Agnocast Runtime Tracepoints

Version Compatibility

CARET supports only Agnocast versions later than 2.3.1.