DC 2.0 S9: Demolition — remove Fluent Bit packages and flb_* layer

.dockerignore

@@ -18,12 +18,9 @@
 !dc_measurements/package.xml
 !dc_services/package.xml
 !dc_cli/package.xml
-!dc_destinations/package.xml
-!fluent_bit_plugins/package.xml
 !dc_common/package.xml
 !dc_interfaces/package.xml
 !dc_util/package.xml
 !dc_description/package.xml
 !dc_core/package.xml
 !dc_group/package.xml
-!fluent_bit_vendor/package.xml

.gitignore

@@ -26,12 +26,6 @@ msg/_*.py
 **build_isolated/
 **devel_isolated/
 
-# Fluent Bit shared libraries
-fluent_bit_plugins/src/go/out_minio/out_minio.so
-fluent_bit_plugins/src/go/out_minio/out_minio.h
-fluent_bit_plugins/src/go/out_files_metrics/out_files_metrics.so
-fluent_bit_plugins/src/go/out_files_metrics/out_files_metrics.h
-
 # Generated by dynamic reconfigure
 *.cfgc
 /cfg/cpp/

.pre-commit-config.yaml

@@ -157,7 +157,3 @@ repos:
       - id: poetry-requirements
         name: Check requirements-dev.txt
         args: [-o, requirements-dev.txt, --with, dev, --without-hashes]
-  - repo: https://github.com/tekwizely/pre-commit-golang
-    rev: v1.0.0-rc.1
-    hooks:
-      - id: go-fmt

CLAUDE.md

@@ -28,7 +28,6 @@ are already recorded there rather than in code comments.
 | `dc_common` | Common support functionality used throughout the DC stack |
 | `dc_measurements` | Collect data with Measurement plugins |
 | `dc_group` | Group node — merges Records from several Measurements by time proximity |
-| `dc_destinations` | Send Records to Destination plugins |
 | `dc_services` | Collect uptime data |
 | `dc_lifecycle_manager` | Controller/manager for the DC system's lifecycle nodes |
 | `dc_interfaces` | Data collection ROS interfaces (msgs/srvs) |
@@ -37,7 +36,6 @@ are already recorded there rather than in code comments.
 | `dc_demos` | Demo packages |
 | `dc_simulation` | Warehouse simulation |
 | `dc_util` | General shared headers |
-| `fluent_bit_plugins`, `fluent_bit_vendor` | Embedded Fluent Bit (humble-era); being demolished per ADR-0001 in the `jazzy` line |
 
 ## Build / lint
 

dc_bridge/test/supervisor_test.cpp

@@ -22,6 +22,27 @@ SupervisorConfig sh(const std::string& script, std::chrono::milliseconds backoff
   cfg.restart_backoff = backoff;
   return cfg;
 }
+
+// Polls `pred` until it's true or `timeout` elapses. A fixed sleep_for() followed by a
+// single assertion assumes the supervised child (fork+exec, then whatever it runs) is
+// always scheduled within that margin — a loaded/shared CI runner can stall it well
+// past a couple hundred milliseconds, which made RestartsProcessThatExitsOnItsOwn and
+// RespectsRestartBackoff flaky. Polling only waits as long as actually needed and
+// still fails loudly if the condition is never met by the deadline.
+template <typename Pred>
+bool wait_until(Pred pred, std::chrono::milliseconds timeout = std::chrono::seconds(5))
+{
+  const auto deadline = std::chrono::steady_clock::now() + timeout;
+  while (std::chrono::steady_clock::now() < deadline)
+  {
+    if (pred())
+    {
+      return true;
+    }
+    std::this_thread::sleep_for(std::chrono::milliseconds(10));
+  }
+  return pred();
+}
 }  // namespace
 
 TEST(Supervisor, RestartsProcessThatExitsOnItsOwn)
@@ -30,8 +51,7 @@ TEST(Supervisor, RestartsProcessThatExitsOnItsOwn)
   s.start();
   EXPECT_TRUE(s.is_running());
 
-  std::this_thread::sleep_for(std::chrono::milliseconds(300));
-  EXPECT_FALSE(s.is_running());
+  EXPECT_TRUE(wait_until([&] { return !s.is_running(); })) << "child never exited";
 
   EXPECT_TRUE(s.poll_restart());
   EXPECT_TRUE(s.is_running());
@@ -41,12 +61,10 @@ TEST(Supervisor, RespectsRestartBackoff)
 {
   Supervisor s(sh("exit 1", std::chrono::seconds(60)));
   s.start();
-  std::this_thread::sleep_for(std::chrono::milliseconds(200));
-  EXPECT_FALSE(s.is_running());
+  EXPECT_TRUE(wait_until([&] { return !s.is_running(); })) << "child never exited";
 
   EXPECT_TRUE(s.poll_restart());  // first restart is immediate (no prior exit recorded)
-  std::this_thread::sleep_for(std::chrono::milliseconds(200));
-  EXPECT_FALSE(s.is_running());
+  EXPECT_TRUE(wait_until([&] { return !s.is_running(); })) << "child never exited";
 
   EXPECT_FALSE(s.poll_restart());  // second exit within the 60s backoff window
 }

dc_bringup/launch/dc_bringup.launch.py

@@ -257,12 +257,10 @@ def generate_launch_description():
                 parameters=[configured_params],
                 arguments=["--ros-args", "--log-level", log_level],
             ),
-            # destination_server (dc_destinations) is COLCON_IGNOREd on the jazzy line pending
-            # the DC 2.0 embedded-Fluent-Bit demolition slice (#241/#242); dc_bridge stands
-            # in its place, forwarding Records to the Vector shipper it supervises internally
-            # (ADRs 0001/0006/0007). It is a plain node outside the lifecycle manager, so it
-            # isn't in lifecycle_manager_dc's node_names; launch respawn supervises it
-            # unconditionally (ADR-0006), independent of use_respawn.
+            # dc_bridge spawns and supervises the Vector shipper and forwards Records to
+            # it. It's a plain node outside the lifecycle manager (not in
+            # lifecycle_manager_dc's node_names, see ADR-0006), so launch respawn
+            # supervises it unconditionally, independent of use_respawn.
             Node(
                 package="dc_bridge",
                 executable="dc_bridge",
@@ -339,12 +337,9 @@ def generate_launch_description():
                 parameters=[configured_params],
                 arguments=["--ros-args", "--log-level", log_level],
             ),
-            # destination_server (dc_destinations) is COLCON_IGNOREd on the jazzy line pending
-            # the DC 2.0 embedded-Fluent-Bit demolition slice (#241/#242); dc_bridge stands
-            # in its place. It isn't built/registered as an rclcpp_components plugin, so it
-            # always runs as a plain node (ADR-0006), even when the rest of the stack is
-            # composed; launch respawn supervises it unconditionally, independent of
-            # use_respawn.
+            # dc_bridge isn't built/registered as an rclcpp_components plugin, so it always
+            # runs as a plain node (ADR-0006), even when the rest of the stack is composed;
+            # launch respawn supervises it unconditionally, independent of use_respawn.
             Node(
                 package="dc_bridge",
                 executable="dc_bridge",

dc_bringup/params/dc_params.yaml

@@ -57,10 +57,10 @@ dc_bridge:
     # scanned for the `local_paths`/`remote_paths` File references Measurements embed
     # (camera, map, …), each File is uploaded (multipart + resumable for large ones)
     # and verified, and per-File status plus group-completion metadata Records are
-    # routed to `files.metadata_destination`. The destination name ("minio" here) must
+    # routed to `files.metadata_destination`. The destination name ("rustfs" here) must
     # match the key the Measurement writes under `remote_paths`.
     #
-    # minio:
+    # rustfs:
     #   type: s3
     #   receives: files
     #   inputs: ["/dc/measurement/camera"]