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Nov 21, 2025
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docs: agnocast support #372

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docs: agnocast support
atsushi421 Nov 17, 2025
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atsushi421 Nov 17, 2025
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atsushi421 Nov 17, 2025
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1 change: 1 addition & 0 deletions docs/design/software_architecture/.pages
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13 changes: 13 additions & 0 deletions docs/design/software_architecture/agnocast.md
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# Agnocast Support

[Agnocast](https://github.com/tier4/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](../runtime_processing/runtime_recording.md), [tracepoint filtering](../runtime_processing/tracepoint_filtering.md), 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](https://github.com/tier4/caret_trace/pull/316) - Runtime recording for Agnocast
- [tier4/caret_trace#318](https://github.com/tier4/caret_trace/pull/318) - Trace filtering for Agnocast
- [tier4/caret_analyze#577](https://github.com/tier4/caret_analyze/pull/577) - Agnocast data processing and analysis

## Version Compatibility

CARET supports only Agnocast versions later than [2.1.2](https://github.com/tier4/agnocast/releases/tag/2.1.2).
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