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Could you add any documentation and example on how to use this? |
| git2 = { workspace = true, optional = true } | ||
| fs_extra = "1.3.0" | ||
| splitty = "1.0.2" | ||
| zenoh = { workspace = true, optional = true } |
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Could be good to put it somewhere else than core because every time we modify core, including dependency we add breaking changes and cannot make backward compatibility as it is tied to dora messages
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I think there might be a bigger issue that is to separate dora-core and dora-messages @phil-opp
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It's the other way around: The underlying crate is dora-message, which defines the message formats used for communicating between the different components. Whenever we update dora-message in a backwards-incompatible way, we need to bump it's minor version to avoid parsing errors. This then requires updating all Dora components together.
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So this change is fine with me. It's even behind an optional feature, so it's also included if exclititly enabled.
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Starting to look great! Could we format the documentation a little bit better though: dora topic hz --helpGives me: Examples: - Measure a single topic: `dora topic hz -d my-dataflow robot1/pose` - Measure
multiple topics with a short window: `dora topic hz -d my-dataflow robot1/pose robot2/vel
--window 5` - Measure all topics: `dora topic hz -d my-dataflow --window 10`
Note: Requires `_unstable_debug.publish_all_messages_to_zenoh: true` in the dataflow
descriptor so runtime messages are available for inspection.is really hard to read. Could we also use: Instead of |
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Thanks a lot for this PR! Nice features! |
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I'm not sure if |
phil-opp
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Thanks for the updates!
Description
This PR introduces a
dora topicsubcommand to inspect node outputs, inspired byrostopic.Three subcommands are included:
topic list: Lists all available topics in a dataflow. Both table and JSON formats are supported.topic echo: Subscribes to a topic and prints the received data to the console. Usesarrow-jsonto serialize arrow messages into JSON strings. Both table and JSON formats are supported.topic hz: Subscribes to a topic and displays the frequency of messages. Usesratatuito render realtime table TUI.Backward Compatibility
The coordinator has been updated to store dataflow descriptors and provide them to the CLI.