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Support bt_file_logger_v2 #10

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tony-p opened this issue Nov 18, 2023 · 2 comments
Open

Support bt_file_logger_v2 #10

tony-p opened this issue Nov 18, 2023 · 2 comments

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@tony-p
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tony-p commented Nov 18, 2023 •
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Support bt_file_logger_v2 as the standard file logger is no longer built by default in bt.CPP v4 and is officially deprecated

From a very quick analysis, the main differences appear to be protocol versioning, and that tree is formatted in XML instead of flat buffers (rest is still in flat buffers)
@ct2034
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ct2034 commented Dec 5, 2023

To be honest. I first would like to get rid of the neccessity for fbl in bt_live. But that is just priorities, I guess.

@tony-p
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tony-p commented Apr 24, 2024 •
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Supporting the zeroMQ protocol would probably solve both issues as it sends/supplies the tree model, and can supply the action states updates. This would also remove the need for the nav2 specific ros topic

(at least for bt_live)

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@ct2034 @tony-p