From fb145458501ca9f147a19d4be397cd328fc4d749 Mon Sep 17 00:00:00 2001 From: fondef Date: Tue, 15 Sep 2026 17:08:31 -0500 Subject: [PATCH] enable debug inspection on the example dataflow MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit `dora topic echo` and `dora topic hz` only read the wire when the dataflow asks for it. Turning it on here means the velocities this node sends can be watched live, and their cadence measured, without the bench printing anything and without a robot — which is most of what testing this node with only a gamepad needs. Measured with it: the get_state poll runs at 1.88 Hz against a configured STATE_POLL_S of 0.5. --- dataflow.yml | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/dataflow.yml b/dataflow.yml index 162cef5..ac2067d 100644 --- a/dataflow.yml +++ b/dataflow.yml @@ -11,6 +11,12 @@ strict_types: true +# Lets `dora topic echo` and `dora topic hz` read what is on the wire, so the +# velocities this node sends can be watched without the bench printing them — +# and without a robot. Costs nothing when nobody is looking. +debug: + enable_debug_inspection: true + nodes: - id: teleop path: dora-teleop