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feat(continental_ars548_ros_wrapper): migrate ContinentalARS548RosWrapper to agnocast_wrapper::Node - #2
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Koichi98 merged 3 commits intoJul 29, 2026
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…pper to agnocast_wrapper::Node (Method 2) Signed-off-by: Koichi Imai <koichi.imai.2@tier4.jp>
…a publish(const &) The ALLOCATE_OUTPUT + *out = std::move(*msg) pattern stole msg's buffer, which was allocated on the normal heap (outside the borrow window), so the payload never entered shared memory and agnocast zero-copy delivered an invalid pointer to cross-process subscribers. publish(const &) borrows inside the window and copies into shared memory, which is correct on both the rclcpp and agnocast backends. Signed-off-by: Koichi Imai <koichi.imai.2@tier4.jp>
Koichi98
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July 27, 2026 05:40
Koichi98
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This was referenced Jul 27, 2026
mojomex
approved these changes
Jul 29, 2026
…gain The migration replaced `packets_sub_->get_topic_name()` with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends. Signed-off-by: Koichi Imai <koichi.imai.2@tier4.jp>
mojomex
approved these changes
Jul 29, 2026
Koichi98
merged commit Jul 29, 2026
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feat/agnocast-core-node-compat
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feat/agnocast-core-node-compat(feat(nebula_core_ros): make SyncToolingWorker compatible with agnocast_wrapper::Node tier4/nebula#469); merged into it, then feat(nebula_core_ros): make SyncToolingWorker compatible with agnocast_wrapper::Node tier4/nebula#469 intomain.Description
Migrate
ContinentalARS548RosWrapper(and its decoder / hw-interface helpers) tonebula::agnocast_wrapper::Node, so the same code runs on both the rclcpp and Agnocast backends selected at runtime byENABLE_AGNOCAST.Review Procedure
Build with
ENABLE_AGNOCAST=0and=1; confirm the ARS548 topics publish as before.Remarks
None.
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