Previous value: -"Path to a bag: a file ending in `.mcap` or `.db3`, or a `rosbag2_*` directory. `peek_bag_samples` also reads ROS 1 `.bag` files; `analyze_bag` does not (`ros2 bag info` cannot open them). Leading/trailing whitespace is stripped. Null bytes and otherwise malformed filesystem paths are rejected. Existence and bag format are validated by the live adapter (mock mode accepts any well-formed path)."New value: +"Bag path: a `.mcap` or `.db3` file or a `rosbag2_*` directory (`peek_bag_samples` also reads ROS 1 `.bag`; `analyze_bag` does not). Existence and format are checked live; mock accepts any well-formed path."

Removed value: -"Path"

Removed value: -"analyze_bagArguments"

Removed value: -"Per-topic statistics inside a bag analysis result."

Previous value: -"Recorded time of the first message on this topic, in nanoseconds (bag receive time, normally epoch). `null` when the bag was summarized from `ros2 bag info` text only, or the topic has no messages."New value: +"Recorded ns of the first message; `null` for text-only summaries or no messages."

Removed value: -"First Timestamp Ns"

Previous value: -"How `frequency_hz` was computed: `topic_span` (per-topic first and last message times, the accurate one) or `bag_duration` (count divided by whole-bag duration, used when per-topic times could not be read). `null` when there is no rate."New value: +"`topic_span` (accurate) or `bag_duration` (count over the whole bag, understates late topics); `null` without a rate."

Removed value: -"Frequency Basis"

Previous value: -"Average publish rate in Hz. With `frequency_basis` `topic_span` it is `(message_count - 1) / (last - first message time)` for this topic; with `bag_duration` it is `message_count / bag duration`, which understates the rate of a topic that started late or stopped early. `null` when fewer than 2 messages, a zero time span, or the topic is `latched` and all its messages fall within 1 second (a start-up burst, not a rate). A latched topic published over a longer span keeps its rate. Not a periodic rate for event-driven topics such as `/parameter_events`."New value: +"Average Hz: (count - 1) over the topic's own time span (see `frequency_basis`); `null` under 2 messages, a zero span, or a latched start-up burst (all within 1 s)."

Removed value: -"Frequency Hz"

Added value: +{
+  "default": "user",
+  "description": "`user` (data, incl. `/tf` and `/clock`), `rosbag2_internal` or `ros_builtin` (e.g. `/rosout`).",
+  "enum": [
+    "user",
+    "rosbag2_internal",
+    "ros_builtin"
+  ],
+  "type": "string"
+}

Previous value: -"Recorded time of the last message on this topic; same rules as `first_timestamp_ns`."New value: +"Recorded ns of the last message; same rules."

Removed value: -"Last Timestamp Ns"

Previous value: -"True when a publisher recorded this topic with transient_local durability (late joiners get the last samples, e.g. `/tf_static`, `/rosout`). Such a topic often publishes a start-up burst; when all its messages fall within 1 second `frequency_hz` is `null`. `false` when every recorded publisher was volatile; `null` when the bag carries no QoS information (ROS 1 bags report their latching flag)."New value: +"True if recorded with transient_local durability, false if volatile, `null` without QoS information."

Removed value: -"Latched"

Removed value: -"Message Count"

Removed value: -"ROS2 message type recorded for this topic."

Removed value: -"Message Type"

Removed value: -"Fully qualified topic name as recorded in the bag."

Removed value: -"Name"

Removed value: -"BagTopicStats"

Removed value: -{
-  "additionalProperties": false,
-  "description": "DDS participant discovered on the configured domain.\n\nCarries identity (`guid`, `name`, `vendor`) plus lifecycle fields\n(`first_seen_ns`, `last_seen_ns`, `status`, `seen_count`).",
-  "properties": {
-    "announced_ns": {
-      "anyOf": [
-        {
-          "minimum": 0,
-          "type": "integer"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Nanoseconds since epoch (DDS source timestamp of the participant's most recent announcement, taken from the announcing side's clock; the local clock when the announcer sent none). `None` when the backend does not expose it. Distinct from `first_seen_ns` / `last_seen_ns`, which are TopicForge's own local clock.",
-      "title": "Announced Ns"
-    },
-    "domain_id": {
-      "description": "DDS domain id the participant is bound to.",
-      "maximum": 232,
-      "minimum": 0,
-      "title": "Domain Id",
-      "type": "integer"
-    },
-    "first_seen_ns": {
-      "anyOf": [
-        {
-          "minimum": 0,
-          "type": "integer"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Wall-clock timestamp (nanoseconds since epoch) of the **first** discovery sample TopicForge observed for this participant. `None` when the adapter does not track lifecycle.",
-      "title": "First Seen Ns"
-    },
-    "guid": {
-      "description": "DDS Global Unique Identifier of the participant: hex string, stable across discovery events within a single deployment.",
-      "title": "Guid",
-      "type": "string"
-    },
-    "hostname": {
-      "anyOf": [
-        {
-          "type": "string"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Hostname announced in discovery (Cyclone `__Hostname` property). `None` when the vendor does not announce it.",
-      "title": "Hostname"
-    },
-    "is_observer": {
-      "default": false,
-      "description": "True for TopicForge's own read-only observer participant, which joins the domain to watch it and appears in this list; false for every other participant.",
-      "title": "Is Observer",
-      "type": "boolean"
-    },
-    "last_seen_ns": {
-      "anyOf": [
-        {
-          "minimum": 0,
-          "type": "integer"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Wall-clock timestamp (nanoseconds since epoch) of the **most recent** discovery sample observed. Used by `participant_events` to distinguish currently-active participants from those that left the bus. `None` when the adapter does not track lifecycle.",
-      "title": "Last Seen Ns"
-    },
-    "lost_ns": {
-      "anyOf": [
-        {
-          "minimum": 0,
-          "type": "integer"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Nanoseconds since epoch of the moment the participant left, once `status` is `left`; `None` while it is active. How precise it is depends on `lost_time_source`. It is an upper bound of when the participant died: after a clean shutdown it is the exact leave time, after a crash it is when the lease expired, and the two cannot be told apart. The process died at or before `lost_ns`, and at most one lease earlier (10 s Cyclone default, 20 s Fast, 100 s RTI).",
-      "title": "Lost Ns"
-    },
-    "lost_time_source": {
-      "anyOf": [
-        {
-          "enum": [
-            "dds_source_timestamp",
-            "observed_local"
-          ],
-          "type": "string"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Where `lost_ns` comes from: `dds_source_timestamp` (timestamp carried by the discovery dispose) or `observed_local` (the moment TopicForge noticed, the weakest). `None` while active.",
-      "title": "Lost Time Source"
-    },
-    "mode_effective": {
-      "description": "Runtime mode the adapter served this response in: `live` (real ROS2 introspection) or `mock` (deterministic fixtures). Lets a caller tell a real graph from a demo one without calling `health_check`.",
-      "enum": [
-        "mock",
-        "live"
-      ],
-      "title": "Mode Effective",
-      "type": "string"
-    },
-    "name": {
-      "anyOf": [
-        {
-          "type": "string"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Participant name the application announced through the standard DDS EntityName QoS (PID_ENTITY_NAME in RTPS discovery), for example `lidar_driver`. `None` when the application did not set one (Dust DDS cannot) or the backend does not expose it.",
-      "title": "Name"
-    },
-    "seen_count": {
-      "default": 1,
-      "description": "Number of distinct discovery samples observed for this participant across all calls to `list_participants` during this server's lifetime. Starts at 1 and increments on each observation.",
-      "minimum": 1,
-      "title": "Seen Count",
-      "type": "integer"
-    },
-    "status": {
-      "default": "unknown",
-      "description": "Lifecycle status. `active` means TopicForge has a recent discovery sample for this GUID and the bus has not signalled removal. `left` means the participant was observed earlier but has since disappeared (a Fast DDS `REMOVED` callback or a Cyclone polling delta). `unknown` when the adapter does not track lifecycle.",
-      "enum": [
-        "active",
-        "left",
-        "unknown"
-      ],
-      "title": "Status",
-      "type": "string"
-    },
-    "vendor": {
-      "description": "DDS implementation that announced this participant, decoded from the OMG-RTPS `vendor_id` field on the discovery sample. `cyclone` (Eclipse Cyclone DDS), `fast` (eProsima Fast DDS), `rti` (RTI Connext), `rti_micro` (RTI Connext Micro), `opensplice` (ADLink OpenSplice), `opendds` (OCI OpenDDS), `coredx` (Twin Oaks CoreDX), `intercom` (Kongsberg InterCOM), `dust` (S2E Dust DDS). `mock` is reserved for synthetic fixtures. `unknown` means the vendor could not be determined: TopicForge reads it from the vendor prefix of the participant GUID, and some vendors (for example Dust DDS and RTI Connext) do not put their vendor id there, while the Cyclone Python binding does not expose the RTPS header vendor id. The participant is still reported; see `vendor_source`. Any conformant DDS-RTPS participant should appear through standard discovery; Cyclone DDS and Dust DDS have been observed on a live bus. See `docs/dds-interop-matrix.md`.",
-      "enum": [
-        "cyclone",
-        "fast",
-        "rti",
-        "rti_micro",
-        "opensplice",
-        "opendds",
-        "coredx",
-        "intercom",
-        "dust",
-        "mock",
-        "unknown"
-      ],
-      "title": "Vendor",
-      "type": "string"
-    },
-    "vendor_source": {
-      "default": "none",
-      "description": "Where `vendor` came from: `guid_prefix` when it was read from the vendor prefix of the participant GUID, `none` when the vendor is unknown (or synthetic in mock mode).",
-      "enum": [
-        "guid_prefix",
-        "none"
-      ],
-      "title": "Vendor Source",
-      "type": "string"
-    }
-  },
-  "required": [
-    "guid",
-    "vendor",
-    "domain_id",
-    "mode_effective"
-  ],
-  "title": "ParticipantInfo",
-  "type": "object"
-}

Previous value: -"Structured summary of a ROS2 bag.\n\nThe fields `bag_format`, `samples_decoded_count`,\n`recording_duration_ns` and `participants_recorded` are populated only\nwhen the `rosbags`-backed reader runs; the `ros2 bag info` path leaves\nthem at their defaults."New value: +"Structured summary of a ROS2 bag."

Previous value: -"Human-readable notes about gaps, clock jumps, or other oddities. Populated in mock mode only; live mode does not detect anomalies."New value: +"Notes on gaps or clock jumps; mock mode only."

Removed value: -"Anomalies"

Previous value: -"Concrete bag container format detected by the reader: `mcap` (Foxglove MCAP), `db3` (ROS2 rosbag2 SQLite), `bag` (ROS1 legacy chunked), or `unknown` when the reader could not classify. `None` when the bag was summarized from `ros2 bag info` text, which carries no format information."New value: +"Detected container: `mcap`, `db3`, `bag` or `unknown`; `None` for `ros2 bag info` text."

Removed value: -"Bag Format"

Added value: +{
+  "description": "Bag duration in seconds.",
+  "minimum": 0,
+  "type": "number"
+}

Removed value: -{
-  "description": "Total bag duration, in seconds (wall clock between first and last message).",
-  "minimum": 0,
-  "title": "Duration Seconds",
-  "type": "number"
-}

Removed value: -"Message Count"

Previous value: -"Runtime mode the adapter served this response in: `live` (real ROS2 introspection) or `mock` (deterministic fixtures). Lets a caller tell a real graph from a demo one without calling `health_check`."New value: +"`live` or `mock` (fixtures)."

Removed value: -"Mode Effective"

Previous value: -"Why the result is less detailed than usual, for example per-topic rates computed over the whole bag duration because the bag was too large to read per-topic message times. `None` when there is nothing to add."New value: +"Why the result is less detailed than usual (e.g. rates over the whole bag duration); else `None`."

Removed value: -"Note"

Removed value: -{
-  "description": "DDS participants recorded in the bag when the container format embeds participant metadata. MCAP can carry it via channel metadata records; ROS2 `.db3` and ROS1 `.bag` generally do not. Empty list when not available, which is the common case.",
-  "items": {
-    "$ref": "#/$defs/ParticipantInfo"
-  },
-  "title": "Participants Recorded",
-  "type": "array"
-}

Previous value: -"Path to the analyzed bag, as supplied by the caller. May point to a file (`.mcap`, `.db3`, or ROS 1 `.bag` for `peek_bag_samples`) or to a `rosbag2_*` directory."New value: +"Bag path as supplied."

Removed value: -"Path"

Removed value: -{
-  "anyOf": [
-    {
-      "minimum": 0,
-      "type": "integer"
-    },
-    {
-      "type": "null"
-    }
-  ],
-  "default": null,
-  "description": "Recording duration in nanoseconds when readable from the bag's index. `None` when only `ros2 bag info` text was parsed; `duration_seconds` (float) is the always-populated fallback that downstream LLM consumers should prefer when this is `None`.",
-  "title": "Recording Duration Ns"
-}

Removed value: -{
-  "default": 0,
-  "description": "Total decoded sample count across all topics produced by the bag reader. `0` when the reader only parsed metadata or when `rosbags` is not installed on the host. Use `peek_bag_samples` to pull the actual sample payloads for a specific topic.",
-  "minimum": 0,
-  "title": "Samples Decoded Count",
-  "type": "integer"
-}

Removed value: -"Storage Format"

Removed value: -"Topics"

Previous value: -[
-  "path",
-  "duration_seconds",
-  "message_count",
-  "topics",
-  "mode_effective"
-]New value: +[
+  "path",
+  "duration_s",
+  "message_count",
+  "topics",
+  "mode_effective"
+]

Previous value: -"Optional DDS topic name to scope the scan to: a bare name such as `scan` or a ROS 2 mangled name such as `rt/scan`. Omit to scan all topics."New value: +"Optional DDS topic to scope the scan to: `scan` or `rt/scan`. Omit to scan all topics."

Removed value: -"Topic"

Removed value: -"detect_qos_mismatchesArguments"

Removed value: -"A reader and a writer that DDS will connect given their announced QoS."

Previous value: -"True when the writer is VOLATILE and the reader was announced more than 1 s after it, both on the same host: samples published before the reader joined are not delivered to it. Normal for a VOLATILE writer, not a fault."New value: +"True for a VOLATILE writer whose reader joined over 1 s later on the same host: earlier samples are not delivered. Normal."

Removed value: -"Late Joiner"

Removed value: -"Late Joiner Note"

Removed value: -"GUID of the reader endpoint."

Removed value: -"Reader Guid"

Removed value: -"GUID of the reader's participant."

Removed value: -"Reader Participant Guid"

Removed value: -"Announced name of the reader's participant."

Removed value: -"Reader Participant Name"

Removed value: -"Topic name both endpoints use."

Removed value: -"Topic"

Removed value: -"Type name both announced."

Removed value: -"Type Name"

Removed value: -"GUID of the writer endpoint."

Removed value: -"Writer Guid"

Removed value: -"GUID of the writer's participant."

Removed value: -"Writer Participant Guid"

Removed value: -"Announced name of the writer's participant."

Removed value: -"Writer Participant Name"

Removed value: -"MatchedPair"

Removed value: -"A single reader/writer QoS incompatibility detected on a topic.\n\nOnly pairs that share a partition and a type name are reported here: those\nseparated by partition or type are `NotMatchedPair`s in the same scan."

Previous value: -"Requested and offered value and the failed rule, one entry per policy."New value: +"Requested and offered value and the failed rule, per policy."

Removed value: -"Details"

Previous value: -"Names of the QoS policies that block communication or risk degradation: see `details` for the compared values."New value: +"Blocking or risky policies; values in `details`."

Removed value: -"Incompatible Policies"

Removed value: -{
-  "description": "Runtime mode the adapter served this response in: `live` (real ROS2 introspection) or `mock` (deterministic fixtures). Lets a caller tell a real graph from a demo one without calling `health_check`.",
-  "enum": [
-    "mock",
-    "live"
-  ],
-  "title": "Mode Effective",
-  "type": "string"
-}

Removed value: -"GUID of the reader endpoint involved in the mismatch, if known."

Removed value: -"Reader Guid"

Removed value: -"GUID of the participant that owns the reader, if known."

Removed value: -"Reader Participant Guid"

Removed value: -"Announced name of the reader's participant, if it set one."

Removed value: -"Reader Participant Name"

Removed value: -"Type name the reader announced."

Removed value: -"Reader Type Name"

Previous value: -"`incompatible` means communication is definitely blocked; `risky` means it may degrade but is not strictly blocked by the DDS spec (History only). Useful for an LLM to triage user-facing advice."New value: +"`incompatible` (blocked) or `risky` (may degrade; History only)."

Removed value: -"Severity"

Added value: +{
+  "description": "Fixes as text for a human to apply, never applied; empty when none.",
+  "items": {
+    "$ref": "#/$defs/SuggestedFix"
+  },
+  "type": "array"
+}

Removed value: -"Topic name where the mismatch was detected."

Removed value: -"Topic"

Previous value: -"Policies that could not be compared for this pair because one side did not announce a value."New value: +"Policies not compared because one side announced no value."

Removed value: -"Unchecked"

Removed value: -"GUID of the writer endpoint involved in the mismatch, if known."

Removed value: -"Writer Guid"

Removed value: -"GUID of the participant that owns the writer, if known."

Removed value: -"Writer Participant Guid"

Removed value: -"Announced name of the writer's participant, if it set one."

Removed value: -"Writer Participant Name"

Removed value: -"Type name the writer announced."

Removed value: -"Writer Type Name"

Previous value: -[
-  "topic",
-  "incompatible_policies",
-  "severity",
-  "mode_effective"
-]New value: +[
+  "topic",
+  "incompatible_policies",
+  "severity"
+]

Removed value: -"MismatchReport"

Removed value: -"A reader and a writer on one topic that DDS will not match, whatever their QoS."

Removed value: -"Detail"

Previous value: -"RxO policies that would ALSO be incompatible once the partition / type issue is fixed (same shape as `MismatchReport.details`). Empty when the QoS of the two endpoints would be compatible, or could not be compared."New value: +"RxO policies that would ALSO be incompatible once the partition or type is fixed (shape of `MismatchReport.details`)."

Removed value: -"Latent Incompatible Policies"

Removed value: -"GUID of the reader endpoint."

Removed value: -"Reader Guid"

Removed value: -"GUID of the reader's participant."

Removed value: -"Reader Participant Guid"

Removed value: -"Announced name of the reader's participant."

Removed value: -"Reader Participant Name"

Previous value: -"`partition`: no reader partition matches a writer partition. `type_name`: the endpoints announced different type names. The RxO QoS rules are not evaluated for such a pair."New value: +"`partition` (none in common) or `type_name` (different types); QoS rules are not evaluated."

Removed value: -"Reason"

Added value: +{
+  "description": "Fixes proposed as text for a human to apply; TopicForge never applies them. Only for a `partition` split, and only on the first pair of identical splits on a topic. Empty when it proposes none for this finding.",
+  "items": {
+    "$ref": "#/$defs/SuggestedFix"
+  },
+  "type": "array"
+}

Removed value: -"Topic name both endpoints use."

Removed value: -"Topic"

Removed value: -"GUID of the writer endpoint."

Removed value: -"Writer Guid"

Removed value: -"GUID of the writer's participant."

Removed value: -"Writer Participant Guid"

Removed value: -"Announced name of the writer's participant."

Removed value: -"Writer Participant Name"

Removed value: -"NotMatchedPair"

Removed value: -"One QoS policy of a reader/writer pair, with the values that were compared."

Removed value: -"What the writer offers, same format as `requested`."

Removed value: -"Offered"

Previous value: -"Policy name: `Reliability`, `Durability`, `Deadline`, `Liveliness`, `LatencyBudget`, `Ownership`, `DestinationOrder`, `DataRepresentation` or `History`."New value: +"Policy name, e.g. `Reliability`, `Deadline`, `Ownership`, `History`."

Removed value: -"Policy"

Previous value: -"What the reader requests, human-readable: `\"RELIABLE\"`, `\"100 ms\"`, `\"infinite\"`."New value: +"What the reader requests, e.g. `\"RELIABLE\"`, `\"100 ms\"`."

Removed value: -"Requested"

Removed value: -"Rule"

Removed value: -"PolicyMismatch"

Added value: +{
+  "additionalProperties": false,
+  "properties": {
+    "kind": {
+      "description": "Form of `text`: a CLI command, a ROS 2 QoS override, a DDS profile or a launch parameter.",
+      "enum": [
+        "cli",
+        "qos_override",
+        "dds_profile",
+        "launch_param"
+      ],
+      "type": "string"
+    },
+    "target": {
+      "description": "Which node or side to change, writer or reader.",
+      "type": "string"
+    },
+    "text": {
+      "description": "The exact command, YAML or XML to apply.",
+      "type": "string"
+    },
+    "tradeoff": {
+      "description": "What is lost by applying it.",
+      "type": "string"
+    },
+    "verify_with": {
+      "description": "The TopicForge tool to run again to confirm the repair.",
+      "type": "string"
+    }
+  },
+  "required": [
+    "kind",
+    "target",
+    "text",
+    "tradeoff",
+    "verify_with"
+  ],
+  "type": "object"
+}

Previous value: -"Leads that are not findings: orphan topics with near-identical names (typos), type id differences, pairs that could not be fully checked."New value: +"Leads that are not findings: probable typos, type id notes, incomplete checks."

Removed value: -"Hints"

Previous value: -"Pairs that will be matched by DDS given the announced QoS: same topic and type name, overlapping partitions, no incompatible RxO policy (a pair with only a `risky` History finding still counts). Actual data flow is not observed."New value: +"Pairs DDS will connect given the announced QoS (data flow is not observed)."

Removed value: -"Matched"

Removed value: -"Matched Total"

Previous value: -"Runtime mode the adapter served this response in: `live` (real ROS2 introspection) or `mock` (deterministic fixtures). Lets a caller tell a real graph from a demo one without calling `health_check`."New value: +"`live` or `mock` (fixtures)."

Removed value: -"Mode Effective"

Previous value: -"Pairs separated by partition or type name. No data flows between them. An empty `reports` with a non-empty `not_matched` does not mean the bus is healthy."New value: +"Pairs DDS never matches (partition or type name). Non-empty with empty `reports` is NOT all-clear: no data flows between them."

Removed value: -"Not Matched"

Removed value: -"Not Matched Total"

Added value: +{
+  "anyOf": [
+    {
+      "type": "string"
+    },
+    {
+      "type": "null"
+    }
+  ],
+  "default": null,
+  "description": "One sentence of context, or `None`."
+}

Previous value: -"Same-topic (reader, writer) pairs examined, including those reported in `not_matched`."New value: +"Same-topic (reader, writer) pairs examined."

Removed value: -"Pairs Checked"

Removed value: -"Policies Checked"

Previous value: -"Policies and facts this scan does not cover, each with a one-line reason. A clean result says nothing about them."New value: +"What the scan does not cover, each with a reason; a clean result says nothing about them."

Removed value: -"Policies Unchecked"

Previous value: -"Pairs that share a partition and a type but have incompatible or risky QoS."New value: +"Pairs sharing partition and type with incompatible or risky QoS."

Removed value: -"Reports"

Removed value: -"Reports Total"

Added value: +{
+  "anyOf": [
+    {
+      "type": "string"
+    },
+    {
+      "type": "null"
+    }
+  ],
+  "default": null,
+  "description": "One-line reading of the scan: counts of incompatible, not matched and matched pairs."
+}

Removed value: -"Topics Scanned"

Previous value: -"True when `reports`, `matched` or `not_matched` was cut to its cap (200 entries each, incompatible reports first): see the `*_total` fields. Narrow the scan with `topic`."New value: +"True when `reports`, `matched` or `not_matched` hit the 200-entry cap (see `*_total`); narrow with `topic`."

Removed value: -"Truncated"

Previous value: -"Fully qualified ROS2 topic name starting with `/`, e.g. `/cmd_vel` or `/camera/image_raw`. Each `/`-separated segment must start with a letter or underscore and contain only letters, digits, and underscores; everything else (whitespace, quotes, shell metacharacters, `//`, trailing `/`) is rejected before reaching the `ros2` CLI."New value: +"Fully qualified ROS 2 topic name starting with `/`, e.g. `/cmd_vel`. Segments are letters, digits and underscores (not starting with a digit); anything else is rejected before reaching the `ros2` CLI."

Removed value: -"Topic"

Removed value: -"get_topic_infoArguments"

Removed value: -{
-  "additionalProperties": false,
-  "description": "QoS profile of one DDS endpoint (reader or writer).\n\nCovers the policies behind most \"subscriber receives nothing\" cases.\nVendor-specific extensions are ignored.",
-  "properties": {
-    "data_representation": {
-      "anyOf": [
-        {
-          "items": {
-            "type": "string"
-          },
-          "type": "array"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Data representations the endpoint accepts or offers, from `XCDR1` and `XCDR2`. `None` when not announced.",
-      "title": "Data Representation"
-    },
-    "deadline_ns": {
-      "anyOf": [
-        {
-          "minimum": 0,
-          "type": "integer"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Deadline QoS in nanoseconds. `None` means no deadline (infinite, the DDS default). A reader deadline tighter (smaller) than a writer deadline is incompatible: the writer cannot guarantee the reader's promise.",
-      "title": "Deadline Ns"
-    },
-    "destination_order": {
-      "anyOf": [
-        {
-          "enum": [
-            "BY_RECEPTION_TIMESTAMP",
-            "BY_SOURCE_TIMESTAMP"
-          ],
-          "type": "string"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "DestinationOrder QoS. `None` when not announced.",
-      "title": "Destination Order"
-    },
-    "durability": {
-      "description": "DDS Durability QoS. `VOLATILE` writers do not retain samples for late joiners; `TRANSIENT_LOCAL` writers do. A `TRANSIENT_LOCAL` reader cannot match a `VOLATILE` writer.",
-      "enum": [
-        "VOLATILE",
-        "TRANSIENT_LOCAL",
-        "TRANSIENT",
-        "PERSISTENT"
-      ],
-      "title": "Durability",
-      "type": "string"
-    },
-    "history": {
-      "anyOf": [
-        {
-          "enum": [
-            "KEEP_LAST",
-            "KEEP_ALL"
-          ],
-          "type": "string"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "DDS History QoS. `KEEP_LAST` keeps a bounded ring buffer of size `history_depth`; `KEEP_ALL` keeps every sample (memory permitting). Mixed `KEEP_ALL` reader with `KEEP_LAST` writer is risky but not strictly incompatible. `None` when it is not known: DDS discovery does not carry History, so it is reported only for TopicForge's own endpoints and for Cyclone DDS peers that set something other than the default (see `history_note`).",
-      "title": "History"
-    },
-    "history_depth": {
-      "anyOf": [
-        {
-          "minimum": 0,
-          "type": "integer"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Depth for `KEEP_LAST`. `None` for `KEEP_ALL` or when `history` is `None`.",
-      "title": "History Depth"
-    },
-    "history_note": {
-      "anyOf": [
-        {
-          "type": "string"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Set when `history` was left out because discovery did not announce it.",
-      "title": "History Note"
-    },
-    "latency_budget_ns": {
-      "anyOf": [
-        {
-          "minimum": 0,
-          "type": "integer"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "LatencyBudget QoS in nanoseconds (a delivery-delay hint). `0` is the DDS default. `None` means infinite or not announced.",
-      "title": "Latency Budget Ns"
-    },
-    "liveliness_kind": {
-      "anyOf": [
-        {
-          "enum": [
-            "AUTOMATIC",
-            "MANUAL_BY_PARTICIPANT",
-            "MANUAL_BY_TOPIC"
-          ],
-          "type": "string"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Liveliness QoS kind. `AUTOMATIC` is asserted by the middleware; the two `MANUAL_*` kinds need the application to write or assert liveliness, and the endpoint is declared not alive when it does not within `liveliness_lease_ns`. `None` when not announced.",
-      "title": "Liveliness Kind"
-    },
-    "liveliness_lease_ns": {
-      "anyOf": [
-        {
-          "minimum": 0,
-          "type": "integer"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Liveliness lease duration in nanoseconds. `None` means infinite (the DDS default) or not announced.",
-      "title": "Liveliness Lease Ns"
-    },
-    "ownership_kind": {
-      "anyOf": [
-        {
-          "enum": [
-            "SHARED",
-            "EXCLUSIVE"
-          ],
-          "type": "string"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Ownership QoS kind. With `EXCLUSIVE`, only the writer with the highest `ownership_strength` delivers samples to a reader. `None` when not announced.",
-      "title": "Ownership Kind"
-    },
-    "ownership_strength": {
-      "anyOf": [
-        {
-          "type": "integer"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Ownership strength of a writer (`EXCLUSIVE` ownership). `None` when not announced.",
-      "title": "Ownership Strength"
-    },
-    "partitions": {
-      "anyOf": [
-        {
-          "items": {
-            "type": "string"
-          },
-          "type": "array"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Partition names the endpoint's Publisher or Subscriber belongs to. No Partition policy is the default partition, reported as `[\"\"]` (never an empty list). Endpoints only match when their partitions intersect. `None` only when the backend cannot read partitions at all (unknown, not the default).",
-      "title": "Partitions"
-    },
-    "reliability": {
-      "description": "DDS Reliability QoS. `RELIABLE` retries lost samples; `BEST_EFFORT` does not. A `RELIABLE` reader cannot match a `BEST_EFFORT` writer.",
-      "enum": [
-        "RELIABLE",
-        "BEST_EFFORT"
-      ],
-      "title": "Reliability",
-      "type": "string"
-    },
-    "unknown_policies": {
-      "anyOf": [
-        {
-          "items": {
-            "type": "string"
-          },
-          "type": "array"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Policies the endpoint announced but whose value could not be read (for example `Deadline`). Their duration fields are `None` here, which does NOT mean infinite for these: the scan does not compare them.",
-      "title": "Unknown Policies"
-    }
-  },
-  "required": [
-    "reliability",
-    "durability"
-  ],
-  "title": "QosProfile",
-  "type": "object"
-}

Added value: +{
+  "additionalProperties": false,
+  "properties": {
+    "durability": {
+      "description": "Shared durability of this side, or `mixed`; `transient_local` marks a latched topic such as `/tf_static`.",
+      "enum": [
+        "volatile",
+        "transient_local",
+        "mixed"
+      ],
+      "type": "string"
+    },
+    "endpoint_count": {
+      "description": "Endpoints of this side the values were read from.",
+      "minimum": 1,
+      "type": "integer"
+    },
+    "reliability": {
+      "description": "Reliability shared by the endpoints of this side, or `mixed` when they disagree.",
+      "enum": [
+        "reliable",
+        "best_effort",
+        "mixed"
+      ],
+      "type": "string"
+    }
+  },
+  "required": [
+    "reliability",
+    "durability",
+    "endpoint_count"
+  ],
+  "type": "object"
+}

Previous value: -"Description of a single ROS2 topic.\n\nCarries optional DDS-side enrichment fields when the active middleware\nbackend can resolve them (CycloneDDS / Fast DDS). The ROS2 CLI adapter and\nthe mock ROS2 path leave them `None`."New value: +"Detail of a single ROS2 topic: counts, QoS per side and the nodes on each side."

Removed value: -"ROS2 message type, e.g. `geometry_msgs/msg/Twist`."

Removed value: -"Message Type"

Previous value: -"Runtime mode the adapter served this response in: `live` (real ROS2 introspection) or `mock` (deterministic fixtures). Lets a caller tell a real graph from a demo one without calling `health_check`."New value: +"`live` or `mock` (fixtures)."

Removed value: -"Mode Effective"

Removed value: -"Fully qualified topic name, e.g. `/cmd_vel`."

Removed value: -"Name"

Added value: +{
+  "anyOf": [
+    {
+      "type": "string"
+    },
+    {
+      "type": "null"
+    }
+  ],
+  "default": null,
+  "description": "One sentence of context, or `None`."
+}

Removed value: -"Publishers known to the graph."

Removed value: -"Publisher Count"

Added value: +{
+  "description": "Publisher node names (`ros2 topic info --verbose`); empty when unknown.",
+  "items": {
+    "type": "string"
+  },
+  "type": "array"
+}

Added value: +{
+  "anyOf": [
+    {
+      "$ref": "#/$defs/SideQos"
+    },
+    {
+      "type": "null"
+    }
+  ],
+  "default": null,
+  "description": "QoS of the publishers. `None` when it was not read: see `publisher_qos_note`."
+}

Added value: +{
+  "anyOf": [
+    {
+      "type": "string"
+    },
+    {
+      "type": "null"
+    }
+  ],
+  "default": null,
+  "description": "Why `publisher_qos` is `None`. `None` when it is set."
+}

Removed value: -{
-  "anyOf": [
-    {
-      "type": "string"
-    },
-    {
-      "type": "null"
-    }
-  ],
-  "default": null,
-  "description": "Durability announced by the topic's publishers: `volatile`, `transient_local` (late subscribers receive the last samples; typical of latched topics such as `/tf_static`), or `mixed` when publishers disagree. `null` when unknown, with the same rules as `qos_reliability`.",
-  "title": "Qos Durability"
-}

Removed value: -{
-  "anyOf": [
-    {
-      "$ref": "#/$defs/QosProfile"
-    },
-    {
-      "type": "null"
-    }
-  ],
-  "default": null,
-  "description": "Effective DDS QoS profile for this topic when resolvable. `None` from the ROS2 CLI adapter or when the DDS module is inactive. The DDS module populates this on a best-effort basis (picks one representative endpoint if reader/writer QoS differ)."
-}

Removed value: -{
-  "anyOf": [
-    {
-      "type": "string"
-    },
-    {
-      "type": "null"
-    }
-  ],
-  "default": null,
-  "description": "Reliability announced by the topic's publishers: `reliable`, `best_effort`, or `mixed` when publishers disagree. `null` when unknown: the topic has no publisher, or the value was not read (`list_topics` does not read QoS; `get_topic_info` does).",
-  "title": "Qos Reliability"
-}

Removed value: -{
-  "anyOf": [
-    {
-      "minimum": 0,
-      "type": "integer"
-    },
-    {
-      "type": "null"
-    }
-  ],
-  "default": null,
-  "description": "DDS reader-endpoint count when the active backend can resolve endpoint-level info (Cyclone / Fast DDS). `None` from the ROS2 CLI adapter or when the DDS module is inactive.",
-  "title": "Reader Count"
-}

Removed value: -"Subscribers known to the graph."

Removed value: -"Subscriber Count"

Added value: +{
+  "description": "Subscriber node names; empty when unknown.",
+  "items": {
+    "type": "string"
+  },
+  "type": "array"
+}

Added value: +{
+  "anyOf": [
+    {
+      "$ref": "#/$defs/SideQos"
+    },
+    {
+      "type": "null"
+    }
+  ],
+  "default": null,
+  "description": "QoS of the subscriptions. `None` when it was not read: see `subscription_qos_note`."
+}

Added value: +{
+  "anyOf": [
+    {
+      "type": "string"
+    },
+    {
+      "type": "null"
+    }
+  ],
+  "default": null,
+  "description": "Why `subscription_qos` is `None`. `None` when it is set."
+}

Removed value: -{
-  "anyOf": [
-    {
-      "minimum": 0,
-      "type": "integer"
-    },
-    {
-      "type": "null"
-    }
-  ],
-  "default": null,
-  "description": "DDS writer-endpoint count when the active backend can resolve endpoint-level info. `None` from the ROS2 CLI adapter or when the DDS module is inactive.",
-  "title": "Writer Count"
-}

Removed value: -"health_checkArguments"

Added value: +{
+  "default": 2,
+  "description": "Output contract version; changes only when a field is renamed, removed or retyped.",
+  "minimum": 1,
+  "type": "integer"
+}

Previous value: -"DDS backend of the adapter actually serving requests. `none` when the DDS module is not active (default for ROS2-only installs). `mock` for synthetic fixtures. `cyclone` requires `pip install \"topicforge[dds-cyclone]\"` (Eclipse CycloneDDS); `fast` requires a Fast DDS Python binding built from eProsima sources (not on PyPI); `opendds` and `dust` are permanent stub adapters that never serve."New value: +"DDS backend serving: `mock`, `cyclone`, `fast`, or `none` (DDS module inactive)."

Previous value: -[
-  "mock",
-  "cyclone",
-  "fast",
-  "opendds",
-  "dust",
-  "none"
-]New value: +[
+  "mock",
+  "cyclone",
+  "fast",
+  "none"
+]

Removed value: -"Dds Backend"

Removed value: -"Dds Domain Id"

Added value: +{
+  "anyOf": [
+    {
+      "type": "string"
+    },
+    {
+      "type": "null"
+    }
+  ],
+  "default": null,
+  "description": "Why `dds_backend` is `none` while ROS 2 serves (not selected, binding missing, or failed to start); else `null`."
+}

Removed value: -{
-  "anyOf": [
-    {
-      "type": "string"
-    },
-    {
-      "type": "null"
-    }
-  ],
-  "default": null,
-  "description": "Why `dds_backend` is `none` while the ROS 2 CLI serves: the backend was not selected (`TOPICFORGE_DDS_BACKEND` unset or `mock`), its Python binding is not installed, or the binding is installed but the adapter failed to start. `null` when a DDS backend is serving or the cause is not known.",
-  "title": "Dds Inactive Reason"
-}

Previous value: -"DDS Security is not handled. On a secured domain TopicForge can show participants but not protected endpoints or data."New value: +"DDS Security is not handled: protected endpoints and data are invisible."

Removed value: -"Dds Security"

Previous value: -"Server-side cap on the number of samples returned per `sample_messages` call. Requests above this limit are silently clamped; the value is exposed here so a client can size its requests proactively. Constant within a given server version."New value: +"Server cap on samples per call; larger requests are clamped."

Removed value: -"Max Sample Count"

Previous value: -"True when a DDS backend is serving (`dds_backend` is not `none`). When the DDS module is inactive (`dds_backend == 'none'`), whether the *configured* backend's Python bindings are importable, so a missing binding is visible."New value: +"True when a DDS backend serves; else whether the configured binding is importable."

Removed value: -"Middleware Available"

Previous value: -"Runtime mode of the adapter actually serving requests: `mock` or `live`. `live` with `ros_backend` `none` means the DDS tools are live and the ROS 2 tools are not available. Can differ from `requested_mode` when a live backend could not start (e.g. `live` requested without `ros2` installed falls back to `mock`)."New value: +"Mode actually serving: `mock` or `live` (`live` with `ros_backend` `none`: DDS tools only). May differ from `requested_mode` after a fallback."

Removed value: -"Mode"

Added value: +{
+  "anyOf": [
+    {
+      "type": "string"
+    },
+    {
+      "type": "null"
+    }
+  ],
+  "default": null,
+  "description": "One sentence of context, or `None`."
+}

Removed value: -"Now Ns"

Previous value: -"Plain statement of which DDS domain is observed, set when a DDS module is active: only the domain joined at startup is visible, a program on another domain is invisible."New value: +"Which DDS domain is observed: only the one joined at startup; others are invisible."

Removed value: -"Observed Domain Note"

Previous value: -"Wall-clock time (ns since epoch) when the DDS observer joined the bus. Nothing earlier than this was watched: `now_ns` minus this is how long TopicForge has been observing. `None` without a live DDS observer."New value: +"ns when the DDS observer joined; nothing earlier was watched. `None` without one."

Removed value: -"Observer Started Ns"

Previous value: -"Whether DDS user-topic payloads are decoded. `disabled` today: `peek_dds_samples` and `topic_metrics` do not return message content for user topics."New value: +"`disabled`: DDS user-topic payloads are not decoded."

Removed value: -"Payload Decoding"

Added value: +{
+  "anyOf": [
+    {
+      "type": "string"
+    },
+    {
+      "type": "null"
+    }
+  ],
+  "default": "user-topic payload decoding is switched off until it is validated on a real bus; builtin discovery topics are still readable",
+  "description": "Reason for `payload_decoding`."
+}

Removed value: -{
-  "anyOf": [
-    {
-      "type": "string"
-    },
-    {
-      "type": "null"
-    }
-  ],
-  "default": "user-topic payload decoding is switched off until it is validated on a real bus; builtin discovery topics are still readable",
-  "description": "One-line reason for `payload_decoding`.",
-  "title": "Payload Decoding Reason"
-}

Previous value: -"Mode requested via configuration (may be `auto`)."New value: +"Mode requested by configuration (may be `auto`)."

Removed value: -"Requested Mode"

Added value: +{
+  "anyOf": [
+    {
+      "type": "string"
+    },
+    {
+      "type": "null"
+    }
+  ],
+  "default": null,
+  "description": "ROS 2 middleware, e.g. `rmw_fastrtps_cpp`; `None` when `rmw_source` is `none`."
+}

Added value: +{
+  "default": "none",
+  "description": "`env`, `ros2_cli`, `distro_default` (not verified on the graph) or `none`.",
+  "enum": [
+    "env",
+    "ros2_cli",
+    "distro_default",
+    "none"
+  ],
+  "type": "string"
+}

Removed value: -"Ros2 Available"

Previous value: -"Value of `ROS_DISTRO` if set in the environment. **Env disclosure, by design**: under the local-trust threat model (see README 'Security model'), the MCP client is a trusted agent on a machine the user controls, and exposing the ROS2 distro lets it adapt to e.g. `humble`/`jazzy` differences. For a hosted multi-tenant TopicForge endpoint this field would be scrubbed ."New value: +"`ROS_DISTRO` if set (disclosed by design under the local-trust model)."

Removed value: -"Ros2 Distro"

Previous value: -"Active ROS2 backend. `ros2_cli` when the `ros2` CLI is on PATH and live mode resolves to a Ros2CliAdapter (alone or as the ROS half of a composite). `mock` when MockAdapter serves the ROS surface. `none` when no ROS2 backend is active (e.g. DDS-only live install with no `ros2` CLI). Together with `dds_backend` it tells the ROS2 and DDS halves of the runtime apart."New value: +"ROS 2 backend: `ros2_cli`, `mock` or `none`."

Removed value: -"Ros Backend"

Previous value: -"True when the ROS 2 tools (`list_topics`, `get_topic_info`, `sample_messages`, `analyze_bag`, `peek_bag_samples`) can run, i.e. `ros_backend` is not `none`. False on a DDS-only setup: use `list_endpoints` for topics and wiring there."New value: +"True when the ROS 2 tools can run (`ros_backend` is not `none`); on a DDS-only setup use `list_endpoints`."

Removed value: -"Ros Tools Available"

Previous value: -"TopicForge server version (matches the PyPI release of the `topicforge` package)."New value: +"TopicForge version."

Removed value: -"Server Version"

Previous value: -"Whether `/clock` has at least one publisher on the ROS 2 graph. True suggests nodes may run on simulated time (`use_sim_time`), so `header.stamp` values are sim time, not wall time (compare with `received_ns`). It is a hint: a publisher on `/clock` does not prove a given node follows it. `None` in mock mode or when the `ros2` CLI could not answer."New value: +"Whether `/clock` had a publisher in the last graph read (a hint that stamps may be sim time). `None` in mock or without a recent read; `health_check` never runs `ros2`."

Removed value: -"Sim Clock Published"

Previous value: -"Discovery entries dropped because a tracker cache was full (4096 per cache). Non-zero means the bus is bigger than what is listed."New value: +"Discovery entries dropped from a full tracker cache (4096 each); non-zero means the bus is bigger than listed."

Removed value: -"Tracker Cache Evictions"

Previous value: -"Discovery tracker passes that raised (swallowed and logged). Non-zero means gaps."New value: +"Tracker passes that raised; non-zero means gaps."

Removed value: -"Tracker Errors"

Previous value: -"Wall-clock time (ns since epoch) of the last completed tracker pass. A value far older than `now_ns` means lifecycle is stale."New value: +"ns of the last tracker pass; far older than `now_ns` means stale lifecycle."

Removed value: -"Tracker Last Pass Ns"

Removed value: -"Tracker Passes"

Previous value: -"Whether the continuous discovery tracker thread is alive (Cyclone). `None` when the backend has no tracker."New value: +"Whether the discovery tracker thread is alive (Cyclone); `None` without a tracker."

Removed value: -"Tracker Running"

Previous value: -"Accepted for compatibility (0..232). TopicForge observes the domain it joined at startup (TOPICFORGE_DDS_DOMAIN_ID); this argument does not switch domains, and the response `domain_id` says which one was observed."New value: +"Ignored: it does not switch domains and is only range-checked (0..232). The domain observed is the one joined at startup (`TOPICFORGE_DDS_DOMAIN_ID`), reported in the response `domain_id`; `note` flags a different non-zero value."

Removed value: -"Domain Id"

Added value: +{
+  "default": "full",
+  "description": "`full` (default) or `compact`: one-line `qos_summary` instead of the full `qos`, no `type_id`, `announced_ns` or `ros_topic_note`. Use `compact` on large buses.",
+  "enum": [
+    "full",
+    "compact"
+  ],
+  "type": "string"
+}

Previous value: -"Also list endpoints whose participant left the bus (flagged with `gone_ns`). Defaults to false; `by_topic` reports them as `departed_writers` / `departed_readers` either way."New value: +"Also list endpoints whose participant left (flagged with `gone_ns`); `by_topic` reports them either way. Default false."

Removed value: -"Include Departed"

Added value: +{
+  "default": false,
+  "description": "Also list ROS 2 service and action endpoints (`rq/`, `rr/`, `rs/`, `rp/`, `ra/`, `ros_discovery_info`), most of a small robot's endpoints. Default false.",
+  "type": "boolean"
+}

Previous value: -"Include TopicForge's own observer participant's endpoints. Defaults to false."New value: +"Include TopicForge's own observer endpoints. Default false."

Removed value: -"Include Observer"

Previous value: -"Only endpoints owned by this participant, as the guid reported by `list_participants` or by an earlier `list_endpoints`. Omit for all participants."New value: +"Only endpoints of this participant (a guid from `list_participants`). Omit for all."

Removed value: -"Participant Guid"

Previous value: -"Only endpoints on this DDS topic name: a bare name such as `scan` or a ROS 2 mangled name such as `rt/scan` (exact name first, then the alternate form). Omit to list every topic."New value: +"Only endpoints on this DDS topic: `scan` or `rt/scan` (exact name first, then the alternate form). Omit for every topic."

Removed value: -"Topic"

Removed value: -"list_endpointsArguments"

Removed value: -"An endpoint whose participant left the bus (crash, clean exit or lease expiry)."

Removed value: -"Gone Ns"

Removed value: -"GUID of the departed endpoint."

Removed value: -"Guid"

Removed value: -"GUID of the participant that owned it."

Removed value: -"Participant Guid"

Removed value: -"Announced name of that participant, `None` when it set none."

Removed value: -"Participant Name"

Removed value: -"DepartedEndpoint"

Removed value: -"One DDS endpoint (writer or reader) announced through discovery."

Removed value: -{
-  "default": null,
-  "description": "Reserved for a future liveness signal. Always `None` today.",
-  "title": "Activity",
-  "type": "null"
-}

Removed value: -{
-  "default": "not observed: TopicForge holds no reader on user topics, so it cannot tell a silent or hung writer from a healthy one",
-  "description": "Why `activity` is not populated.",
-  "title": "Activity Note",
-  "type": "string"
-}

Previous value: -"Source timestamp of the discovery announcement, ns since epoch, read on the announcing side's clock (it can differ from this host's clock). `None` when not available."New value: +"Source timestamp of the announcement, on the announcer's clock; `None` if unavailable."

Removed value: -"Announced Ns"

Added value: +{
+  "type": "string"
+}

Removed value: -{
-  "description": "DDS domain the endpoint was observed on.",
-  "maximum": 232,
-  "minimum": 0,
-  "title": "Domain Id",
-  "type": "integer"
-}

Previous value: -"`None` for a live endpoint. For a departed endpoint (only listed with `include_departed`): when its participant was lost (the participant's `lost_ns`, an upper bound of the death)."New value: +"`None` for a live endpoint; for a departed one (`include_departed`) when its participant was lost (upper bound)."

Removed value: -"Gone Ns"

Removed value: -"GUID of the endpoint, `xxxxxxxx.xxxxxxxx.xxxxxxxx.xxxxxxxx`."

Removed value: -"Guid"

Removed value: -"Is Observer"

Removed value: -{
-  "description": "Runtime mode the adapter served this response in: `live` (real ROS2 introspection) or `mock` (deterministic fixtures). Lets a caller tell a real graph from a demo one without calling `health_check`.",
-  "enum": [
-    "mock",
-    "live"
-  ],
-  "title": "Mode Effective",
-  "type": "string"
-}

Removed value: -"GUID of the owning participant, same format as `list_participants`."

Removed value: -"Participant Guid"

Removed value: -"Announced name of the owning participant, `None` when it set none."

Removed value: -"Participant Name"

Removed value: -"Vendor of the owning participant, same value as `list_participants` (`unknown` when it cannot be determined)."

Removed value: -"Participant Vendor"

Previous value: -"QoS the endpoint announced. Durations (`deadline_ns`, `liveliness_lease_ns`, `latency_budget_ns`) of `None` mean infinite or not set. `None` when reliability or durability could not be resolved."New value: +"Announced QoS; `None` when reliability or durability could not be resolved. A duration of `None` is infinite or unset."

Added value: +{
+  "anyOf": [
+    {
+      "type": "string"
+    },
+    {
+      "type": "null"
+    }
+  ],
+  "default": null,
+  "description": "One-line QoS, set only with `fields` `compact` (where `qos` is `None`)."
+}

Removed value: -"Role"

Added value: +{
+  "anyOf": [
+    {
+      "type": "string"
+    },
+    {
+      "type": "null"
+    }
+  ],
+  "default": null,
+  "description": "ROS 2 name of the topic, for example `/scan`. `None` when the endpoint is not a ROS 2 topic: see `ros_topic_note`."
+}

Added value: +{
+  "anyOf": [
+    {
+      "type": "string"
+    },
+    {
+      "type": "null"
+    }
+  ],
+  "default": null,
+  "description": "Why `ros_topic` is `None`. `None` when it is set."
+}

Removed value: -{
-  "description": "DDS topic name.",
-  "title": "Topic",
-  "type": "string"
-}

Removed value: -"Type Id"

Removed value: -"Announced data type name."

Removed value: -"Type Name"

Previous value: -[
-  "guid",
-  "role",
-  "participant_guid",
-  "topic",
-  "is_observer",
-  "domain_id",
-  "mode_effective"
-]New value: +[
+  "guid",
+  "role",
+  "participant_guid",
+  "dds_topic",
+  "is_observer"
+]

Removed value: -"EndpointInfo"

Removed value: -"QoS profile of one DDS endpoint (reader or writer).\n\nCovers the policies behind most \"subscriber receives nothing\" cases.\nVendor-specific extensions are ignored."

Previous value: -"Data representations the endpoint accepts or offers, from `XCDR1` and `XCDR2`. `None` when not announced."New value: +"`XCDR1` / `XCDR2` accepted or offered; `None` when not announced."

Removed value: -"Data Representation"

Previous value: -"Deadline QoS in nanoseconds. `None` means no deadline (infinite, the DDS default). A reader deadline tighter (smaller) than a writer deadline is incompatible: the writer cannot guarantee the reader's promise."New value: +"Deadline in ns; `None` is infinite. A reader deadline shorter than the writer's is incompatible."

Removed value: -"Deadline Ns"

Removed value: -"Destination Order"

Previous value: -"DDS Durability QoS. `VOLATILE` writers do not retain samples for late joiners; `TRANSIENT_LOCAL` writers do. A `TRANSIENT_LOCAL` reader cannot match a `VOLATILE` writer."New value: +"`VOLATILE` keeps nothing for late joiners, `TRANSIENT_LOCAL` does; a TRANSIENT_LOCAL reader cannot match a VOLATILE writer."

Removed value: -"Durability"

Previous value: -"DDS History QoS. `KEEP_LAST` keeps a bounded ring buffer of size `history_depth`; `KEEP_ALL` keeps every sample (memory permitting). Mixed `KEEP_ALL` reader with `KEEP_LAST` writer is risky but not strictly incompatible. `None` when it is not known: DDS discovery does not carry History, so it is reported only for TopicForge's own endpoints and for Cyclone DDS peers that set something other than the default (see `history_note`)."New value: +"`KEEP_LAST` (ring of `history_depth`) or `KEEP_ALL`; `None` when discovery did not announce it (see `history_note`)."

Removed value: -"History"

Previous value: -"Depth for `KEEP_LAST`. `None` for `KEEP_ALL` or when `history` is `None`."New value: +"Depth for `KEEP_LAST`; else `None`."

Removed value: -"History Depth"

Previous value: -"Set when `history` was left out because discovery did not announce it."New value: +"Why `history` is `None`."

Removed value: -"History Note"

Previous value: -"LatencyBudget QoS in nanoseconds (a delivery-delay hint). `0` is the DDS default. `None` means infinite or not announced."New value: +"LatencyBudget in ns (a hint); `0` is the default, `None` is infinite or not announced."

Removed value: -"Latency Budget Ns"

Previous value: -"Liveliness QoS kind. `AUTOMATIC` is asserted by the middleware; the two `MANUAL_*` kinds need the application to write or assert liveliness, and the endpoint is declared not alive when it does not within `liveliness_lease_ns`. `None` when not announced."New value: +"`AUTOMATIC`, or `MANUAL_*` (the app must assert liveliness within `liveliness_lease_ns`); `None` when not announced."

Removed value: -"Liveliness Kind"

Previous value: -"Liveliness lease duration in nanoseconds. `None` means infinite (the DDS default) or not announced."New value: +"Liveliness lease in ns; `None` is infinite or not announced."

Removed value: -"Liveliness Lease Ns"

Previous value: -"Ownership QoS kind. With `EXCLUSIVE`, only the writer with the highest `ownership_strength` delivers samples to a reader. `None` when not announced."New value: +"With `EXCLUSIVE` only the writer with the highest `ownership_strength` delivers; `None` when not announced."

Removed value: -"Ownership Kind"

Previous value: -"Ownership strength of a writer (`EXCLUSIVE` ownership). `None` when not announced."New value: +"Writer strength under `EXCLUSIVE` ownership; `None` when not announced."

Removed value: -"Ownership Strength"

Previous value: -"Partition names the endpoint's Publisher or Subscriber belongs to. No Partition policy is the default partition, reported as `[\"\"]` (never an empty list). Endpoints only match when their partitions intersect. `None` only when the backend cannot read partitions at all (unknown, not the default)."New value: +"Partition names; the default partition is `[\"\"]`, never `[]`. Endpoints match only if partitions intersect; `None` when unreadable."

Removed value: -"Partitions"

Previous value: -"DDS Reliability QoS. `RELIABLE` retries lost samples; `BEST_EFFORT` does not. A `RELIABLE` reader cannot match a `BEST_EFFORT` writer."New value: +"`RELIABLE` retries lost samples, `BEST_EFFORT` does not; a RELIABLE reader cannot match a BEST_EFFORT writer."

Removed value: -"Reliability"

Previous value: -"Policies the endpoint announced but whose value could not be read (for example `Deadline`). Their duration fields are `None` here, which does NOT mean infinite for these: the scan does not compare them."New value: +"Policies announced but unreadable (e.g. `Deadline`): their fields are `None`, which does NOT mean infinite; the scan does not compare them."

Removed value: -"Unknown Policies"

Removed value: -"QosProfile"

Removed value: -"Per-topic roll-up of the listed endpoints, for spotting orphans."

Added value: +{
+  "type": "string"
+}

Previous value: -"Readers on this topic whose participant left, newest first."New value: +"Readers whose participant left, newest first."

Removed value: -"Departed Readers"

Previous value: -"Writers on this topic whose participant left, newest first (bounded memory: last 200 departed endpoints, 1 h). Explains a topic that lost its only writer."New value: +"Writers whose participant left, newest first (last 200, 1 h)."

Removed value: -"Departed Writers"

Previous value: -"`no_reader`: writers but no reader. `no_writer`: readers but no writer. `None` when both sides exist."New value: +"`no_reader` (writers only), `no_writer` (readers only), else `None`."

Removed value: -"Orphan"

Removed value: -"Partitions"

Removed value: -"Number of listed readers."

Removed value: -"Reader Count"

Added value: +{
+  "anyOf": [
+    {
+      "type": "string"
+    },
+    {
+      "type": "null"
+    }
+  ],
+  "default": null,
+  "description": "ROS 2 name of the topic, for example `/scan`. `None` for a DDS topic that is not a ROS 2 topic."
+}

Removed value: -{
-  "description": "DDS topic name.",
-  "title": "Topic",
-  "type": "string"
-}

Removed value: -"Distinct type names announced on this topic."

Removed value: -"Type Names"

Removed value: -"Number of listed writers."

Removed value: -"Writer Count"

Previous value: -[
-  "topic",
-  "type_names",
-  "writer_count",
-  "reader_count",
-  "partitions"
-]New value: +[
+  "dds_topic",
+  "type_names",
+  "writer_count",
+  "reader_count",
+  "partitions"
+]

Removed value: -"TopicSummary"

Removed value: -"By Topic"

Added value: +{
+  "default": 0,
+  "description": "Departed endpoints matching the filters; listed in `endpoints` only with `include_departed`.",
+  "minimum": 0,
+  "type": "integer"
+}

Removed value: -{
-  "default": 0,
-  "description": "Departed endpoints (their participant left) matching the filters. They are in `endpoints` only with `include_departed`; `by_topic` always carries them as `departed_writers` / `departed_readers`.",
-  "minimum": 0,
-  "title": "Departed Endpoints",
-  "type": "integer"
-}

Removed value: -"DDS domain observed."

Removed value: -"Domain Id"

Removed value: -"Endpoints"

Added value: +{
+  "default": 0,
+  "description": "TopicForge's own endpoints left out of `endpoints` (counted in `total`).",
+  "minimum": 0,
+  "type": "integer"
+}

Removed value: -{
-  "default": 0,
-  "description": "Endpoints of TopicForge's own observer participant left out of `endpoints` (they are counted in `total_discovered`). Explains `total_discovered` vs `returned` together with the filters.",
-  "minimum": 0,
-  "title": "Excluded Observer Endpoints",
-  "type": "integer"
-}

Added value: +{
+  "default": "full",
+  "description": "Detail level served: `compact` drops per-endpoint QoS detail, type id and notes.",
+  "enum": [
+    "full",
+    "compact"
+  ],
+  "type": "string"
+}

Added value: +{
+  "default": 0,
+  "description": "Service/action endpoints (`rq/`, `rr/`, `rs/`, `rp/`, `ra/`, `ros_discovery_info`) left out while `include_internal` is false.",
+  "minimum": 0,
+  "type": "integer"
+}

Added value: +{
+  "description": "Facts true of every endpoint, stated once (e.g. liveness is not observed).",
+  "items": {
+    "type": "string"
+  },
+  "type": "array"
+}

Previous value: -"Runtime mode the adapter served this response in: `live` (real ROS2 introspection) or `mock` (deterministic fixtures). Lets a caller tell a real graph from a demo one without calling `health_check`."New value: +"`live` or `mock` (fixtures)."

Removed value: -"Mode Effective"

Previous value: -"Hint when a `topic` filter matched nothing: names the closest known topics."New value: +"Set when a `topic` filter matched nothing: the closest known topics."

Removed value: -"Note"

Removed value: -"Observer Guid"

Removed value: -"Length of `endpoints`."

Removed value: -"Returned"

Removed value: -"Snapshot Ns"

Added value: +{
+  "description": "Endpoints in the discovery cache before any filter.",
+  "minimum": 0,
+  "type": "integer"
+}

Removed value: -{
-  "description": "Endpoints in the discovery cache before any filter.",
-  "minimum": 0,
-  "title": "Total Discovered",
-  "type": "integer"
-}

Removed value: -"Truncated"

Previous value: -[
-  "domain_id",
-  "snapshot_ns",
-  "endpoints",
-  "by_topic",
-  "total_discovered",
-  "returned",
-  "truncated",
-  "mode_effective"
-]New value: +[
+  "domain_id",
+  "snapshot_ns",
+  "endpoints",
+  "by_topic",
+  "total",
+  "returned",
+  "truncated",
+  "mode_effective"
+]

Previous value: -"Accepted for compatibility (0..232). TopicForge observes the domain it joined at startup (TOPICFORGE_DDS_DOMAIN_ID); this argument does not switch domains, and the response `domain_id` says which one was observed."New value: +"Ignored: it does not switch domains and is only range-checked (0..232). The domain observed is the one joined at startup (`TOPICFORGE_DDS_DOMAIN_ID`), reported in the response `domain_id`; `note` flags a different non-zero value."

Removed value: -"Domain Id"

Removed value: -"list_participantsArguments"

Added value: +{
+  "additionalProperties": false,
+  "properties": {
+    "departures": {
+      "description": "Times a participant with this name was lost.",
+      "minimum": 0,
+      "type": "integer"
+    },
+    "lives": {
+      "description": "Distinct GUIDs that carried this name; restarts = `lives` - 1.",
+      "minimum": 1,
+      "type": "integer"
+    }
+  },
+  "required": [
+    "lives",
+    "departures"
+  ],
+  "type": "object"
+}

Removed value: -"DDS participant discovered on the configured domain.\n\nCarries identity (`guid`, `name`, `vendor`) plus lifecycle fields\n(`first_seen_ns`, `last_seen_ns`, `status`, `seen_count`)."

Previous value: -"Nanoseconds since epoch (DDS source timestamp of the participant's most recent announcement, taken from the announcing side's clock; the local clock when the announcer sent none). `None` when the backend does not expose it. Distinct from `first_seen_ns` / `last_seen_ns`, which are TopicForge's own local clock."New value: +"Source timestamp of the latest announcement, on the announcer's clock; `None` if unavailable."

Removed value: -"Announced Ns"

Removed value: -"DDS domain id the participant is bound to."

Removed value: -"Domain Id"

Previous value: -"Wall-clock timestamp (nanoseconds since epoch) of the **first** discovery sample TopicForge observed for this participant. `None` when the adapter does not track lifecycle."New value: +"Wall-clock ns of the first discovery sample seen; `None` without lifecycle tracking."

Removed value: -"First Seen Ns"

Removed value: -"DDS Global Unique Identifier of the participant: hex string, stable across discovery events within a single deployment."

Removed value: -"Guid"

Removed value: -"Hostname announced in discovery (Cyclone `__Hostname` property). `None` when the vendor does not announce it."

Removed value: -"Hostname"

Previous value: -"True for TopicForge's own read-only observer participant, which joins the domain to watch it and appears in this list; false for every other participant."New value: +"True for TopicForge's own read-only observer participant."

Removed value: -"Is Observer"

Previous value: -"Wall-clock timestamp (nanoseconds since epoch) of the **most recent** discovery sample observed. Used by `participant_events` to distinguish currently-active participants from those that left the bus. `None` when the adapter does not track lifecycle."New value: +"Wall-clock ns of the latest discovery sample; `None` without lifecycle tracking."

Removed value: -"Last Seen Ns"

Previous value: -"Nanoseconds since epoch of the moment the participant left, once `status` is `left`; `None` while it is active. How precise it is depends on `lost_time_source`. It is an upper bound of when the participant died: after a clean shutdown it is the exact leave time, after a crash it is when the lease expired, and the two cannot be told apart. The process died at or before `lost_ns`, and at most one lease earlier (10 s Cyclone default, 20 s Fast, 100 s RTI)."New value: +"Once `left`: ns upper bound of the death (exact after a clean shutdown; after a crash the lease expiry, up to one lease earlier: 10 s Cyclone, 20 s Fast, 100 s RTI). `None` while active."

Removed value: -"Lost Ns"

Previous value: -"Where `lost_ns` comes from: `dds_source_timestamp` (timestamp carried by the discovery dispose) or `observed_local` (the moment TopicForge noticed, the weakest). `None` while active."New value: +"Origin of `lost_ns`: `dds_source_timestamp` or `observed_local` (weakest); `None` while active."

Removed value: -"Lost Time Source"

Removed value: -{
-  "description": "Runtime mode the adapter served this response in: `live` (real ROS2 introspection) or `mock` (deterministic fixtures). Lets a caller tell a real graph from a demo one without calling `health_check`.",
-  "enum": [
-    "mock",
-    "live"
-  ],
-  "title": "Mode Effective",
-  "type": "string"
-}

Previous value: -"Participant name the application announced through the standard DDS EntityName QoS (PID_ENTITY_NAME in RTPS discovery), for example `lidar_driver`. `None` when the application did not set one (Dust DDS cannot) or the backend does not expose it."New value: +"Announced EntityName (e.g. `lidar_driver`); `None` when the application set none (Dust DDS cannot)."

Removed value: -"Name"

Added value: +{
+  "description": "Fully qualified ROS 2 node names sharing this participant; empty when `node_names_source` is `none`.",
+  "items": {
+    "type": "string"
+  },
+  "type": "array"
+}

Added value: +{
+  "default": "none",
+  "description": "`ros_discovery_info`, `ros2_cli` or `none` (no link made).",
+  "enum": [
+    "ros_discovery_info",
+    "ros2_cli",
+    "none"
+  ],
+  "type": "string"
+}

Previous value: -"Number of distinct discovery samples observed for this participant across all calls to `list_participants` during this server's lifetime. Starts at 1 and increments on each observation."New value: +"Discovery observations of this GUID in this server's lifetime. Not a restart count: a restart is a new GUID (see `restarts_by_name`)."

Removed value: -"Seen Count"

Previous value: -"Lifecycle status. `active` means TopicForge has a recent discovery sample for this GUID and the bus has not signalled removal. `left` means the participant was observed earlier but has since disappeared (a Fast DDS `REMOVED` callback or a Cyclone polling delta). `unknown` when the adapter does not track lifecycle."New value: +"`active`, `left` (seen earlier, since gone) or `unknown` (no lifecycle tracking)."

Removed value: -"Status"

Previous value: -"DDS implementation that announced this participant, decoded from the OMG-RTPS `vendor_id` field on the discovery sample. `cyclone` (Eclipse Cyclone DDS), `fast` (eProsima Fast DDS), `rti` (RTI Connext), `rti_micro` (RTI Connext Micro), `opensplice` (ADLink OpenSplice), `opendds` (OCI OpenDDS), `coredx` (Twin Oaks CoreDX), `intercom` (Kongsberg InterCOM), `dust` (S2E Dust DDS). `mock` is reserved for synthetic fixtures. `unknown` means the vendor could not be determined: TopicForge reads it from the vendor prefix of the participant GUID, and some vendors (for example Dust DDS and RTI Connext) do not put their vendor id there, while the Cyclone Python binding does not expose the RTPS header vendor id. The participant is still reported; see `vendor_source`. Any conformant DDS-RTPS participant should appear through standard discovery; Cyclone DDS and Dust DDS have been observed on a live bus. See `docs/dds-interop-matrix.md`."New value: +"DDS implementation read from the GUID vendor prefix: cyclone, fast, rti, rti_micro, opensplice, opendds, coredx, intercom, dust, mock or `unknown` (Dust DDS and RTI Connext do not put theirs there); see `vendor_source`."

Removed value: -"Vendor"

Previous value: -"Where `vendor` came from: `guid_prefix` when it was read from the vendor prefix of the participant GUID, `none` when the vendor is unknown (or synthetic in mock mode)."New value: +"`guid_prefix` when `vendor` was read from the GUID, else `none`."

Removed value: -"Vendor Source"

Previous value: -[
-  "guid",
-  "vendor",
-  "domain_id",
-  "mode_effective"
-]New value: +[
+  "guid",
+  "vendor",
+  "domain_id"
+]

Removed value: -"ParticipantInfo"

Added value: +false

Added value: +"Envelope returned by `list_participants`."

Added value: +{
+  "description": "DDS domain observed (joined at startup).",
+  "maximum": 232,
+  "minimum": 0,
+  "type": "integer"
+}

Added value: +{
+  "description": "`live` or `mock` (fixtures).",
+  "enum": [
+    "mock",
+    "live"
+  ],
+  "type": "string"
+}

Added value: +{
+  "anyOf": [
+    {
+      "type": "string"
+    },
+    {
+      "type": "null"
+    }
+  ],
+  "default": null,
+  "description": "One sentence of context, or `None`."
+}

Added value: +{
+  "items": {
+    "$ref": "#/$defs/ParticipantInfo"
+  },
+  "type": "array"
+}

Added value: +{
+  "additionalProperties": {
+    "$ref": "#/$defs/NameLifecycle"
+  },
+  "description": "Names seen with several GUIDs or lost at least once (absent: ran once and stayed). A restart is a new GUID with the same name.",
+  "type": "object"
+}

Added value: +{
+  "anyOf": [
+    {
+      "type": "string"
+    },
+    {
+      "type": "null"
+    }
+  ],
+  "default": null,
+  "description": "Set when unnamed participants were left out of `restarts_by_name`."
+}

Removed value: -{
-  "items": {
-    "$ref": "#/$defs/ParticipantInfo"
-  },
-  "title": "Result",
-  "type": "array"
-}

Added value: +{
+  "minimum": 0,
+  "type": "integer"
+}

Added value: +{
+  "minimum": 0,
+  "type": "integer"
+}

Added value: +{
+  "type": "boolean"
+}

Previous value: -[
-  "result"
-]New value: +[
+  "participants",
+  "returned",
+  "total",
+  "truncated",
+  "domain_id",
+  "mode_effective"
+]

Previous value: -"list_participantsOutput"New value: +"ParticipantListing"

Removed value: -"list_topicsArguments"

Removed value: -{
-  "additionalProperties": false,
-  "description": "QoS profile of one DDS endpoint (reader or writer).\n\nCovers the policies behind most \"subscriber receives nothing\" cases.\nVendor-specific extensions are ignored.",
-  "properties": {
-    "data_representation": {
-      "anyOf": [
-        {
-          "items": {
-            "type": "string"
-          },
-          "type": "array"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Data representations the endpoint accepts or offers, from `XCDR1` and `XCDR2`. `None` when not announced.",
-      "title": "Data Representation"
-    },
-    "deadline_ns": {
-      "anyOf": [
-        {
-          "minimum": 0,
-          "type": "integer"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Deadline QoS in nanoseconds. `None` means no deadline (infinite, the DDS default). A reader deadline tighter (smaller) than a writer deadline is incompatible: the writer cannot guarantee the reader's promise.",
-      "title": "Deadline Ns"
-    },
-    "destination_order": {
-      "anyOf": [
-        {
-          "enum": [
-            "BY_RECEPTION_TIMESTAMP",
-            "BY_SOURCE_TIMESTAMP"
-          ],
-          "type": "string"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "DestinationOrder QoS. `None` when not announced.",
-      "title": "Destination Order"
-    },
-    "durability": {
-      "description": "DDS Durability QoS. `VOLATILE` writers do not retain samples for late joiners; `TRANSIENT_LOCAL` writers do. A `TRANSIENT_LOCAL` reader cannot match a `VOLATILE` writer.",
-      "enum": [
-        "VOLATILE",
-        "TRANSIENT_LOCAL",
-        "TRANSIENT",
-        "PERSISTENT"
-      ],
-      "title": "Durability",
-      "type": "string"
-    },
-    "history": {
-      "anyOf": [
-        {
-          "enum": [
-            "KEEP_LAST",
-            "KEEP_ALL"
-          ],
-          "type": "string"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "DDS History QoS. `KEEP_LAST` keeps a bounded ring buffer of size `history_depth`; `KEEP_ALL` keeps every sample (memory permitting). Mixed `KEEP_ALL` reader with `KEEP_LAST` writer is risky but not strictly incompatible. `None` when it is not known: DDS discovery does not carry History, so it is reported only for TopicForge's own endpoints and for Cyclone DDS peers that set something other than the default (see `history_note`).",
-      "title": "History"
-    },
-    "history_depth": {
-      "anyOf": [
-        {
-          "minimum": 0,
-          "type": "integer"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Depth for `KEEP_LAST`. `None` for `KEEP_ALL` or when `history` is `None`.",
-      "title": "History Depth"
-    },
-    "history_note": {
-      "anyOf": [
-        {
-          "type": "string"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Set when `history` was left out because discovery did not announce it.",
-      "title": "History Note"
-    },
-    "latency_budget_ns": {
-      "anyOf": [
-        {
-          "minimum": 0,
-          "type": "integer"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "LatencyBudget QoS in nanoseconds (a delivery-delay hint). `0` is the DDS default. `None` means infinite or not announced.",
-      "title": "Latency Budget Ns"
-    },
-    "liveliness_kind": {
-      "anyOf": [
-        {
-          "enum": [
-            "AUTOMATIC",
-            "MANUAL_BY_PARTICIPANT",
-            "MANUAL_BY_TOPIC"
-          ],
-          "type": "string"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Liveliness QoS kind. `AUTOMATIC` is asserted by the middleware; the two `MANUAL_*` kinds need the application to write or assert liveliness, and the endpoint is declared not alive when it does not within `liveliness_lease_ns`. `None` when not announced.",
-      "title": "Liveliness Kind"
-    },
-    "liveliness_lease_ns": {
-      "anyOf": [
-        {
-          "minimum": 0,
-          "type": "integer"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Liveliness lease duration in nanoseconds. `None` means infinite (the DDS default) or not announced.",
-      "title": "Liveliness Lease Ns"
-    },
-    "ownership_kind": {
-      "anyOf": [
-        {
-          "enum": [
-            "SHARED",
-            "EXCLUSIVE"
-          ],
-          "type": "string"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Ownership QoS kind. With `EXCLUSIVE`, only the writer with the highest `ownership_strength` delivers samples to a reader. `None` when not announced.",
-      "title": "Ownership Kind"
-    },
-    "ownership_strength": {
-      "anyOf": [
-        {
-          "type": "integer"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Ownership strength of a writer (`EXCLUSIVE` ownership). `None` when not announced.",
-      "title": "Ownership Strength"
-    },
-    "partitions": {
-      "anyOf": [
-        {
-          "items": {
-            "type": "string"
-          },
-          "type": "array"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Partition names the endpoint's Publisher or Subscriber belongs to. No Partition policy is the default partition, reported as `[\"\"]` (never an empty list). Endpoints only match when their partitions intersect. `None` only when the backend cannot read partitions at all (unknown, not the default).",
-      "title": "Partitions"
-    },
-    "reliability": {
-      "description": "DDS Reliability QoS. `RELIABLE` retries lost samples; `BEST_EFFORT` does not. A `RELIABLE` reader cannot match a `BEST_EFFORT` writer.",
-      "enum": [
-        "RELIABLE",
-        "BEST_EFFORT"
-      ],
-      "title": "Reliability",
-      "type": "string"
-    },
-    "unknown_policies": {
-      "anyOf": [
-        {
-          "items": {
-            "type": "string"
-          },
-          "type": "array"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Policies the endpoint announced but whose value could not be read (for example `Deadline`). Their duration fields are `None` here, which does NOT mean infinite for these: the scan does not compare them.",
-      "title": "Unknown Policies"
-    }
-  },
-  "required": [
-    "reliability",
-    "durability"
-  ],
-  "title": "QosProfile",
-  "type": "object"
-}

Removed value: -{
-  "additionalProperties": false,
-  "description": "Description of a single ROS2 topic.\n\nCarries optional DDS-side enrichment fields when the active middleware\nbackend can resolve them (CycloneDDS / Fast DDS). The ROS2 CLI adapter and\nthe mock ROS2 path leave them `None`.",
-  "properties": {
-    "message_type": {
-      "description": "ROS2 message type, e.g. `geometry_msgs/msg/Twist`.",
-      "title": "Message Type",
-      "type": "string"
-    },
-    "mode_effective": {
-      "description": "Runtime mode the adapter served this response in: `live` (real ROS2 introspection) or `mock` (deterministic fixtures). Lets a caller tell a real graph from a demo one without calling `health_check`.",
-      "enum": [
-        "mock",
-        "live"
-      ],
-      "title": "Mode Effective",
-      "type": "string"
-    },
-    "name": {
-      "description": "Fully qualified topic name, e.g. `/cmd_vel`.",
-      "title": "Name",
-      "type": "string"
-    },
-    "publisher_count": {
-      "description": "Publishers known to the graph.",
-      "minimum": 0,
-      "title": "Publisher Count",
-      "type": "integer"
-    },
-    "qos_durability": {
-      "anyOf": [
-        {
-          "type": "string"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Durability announced by the topic's publishers: `volatile`, `transient_local` (late subscribers receive the last samples; typical of latched topics such as `/tf_static`), or `mixed` when publishers disagree. `null` when unknown, with the same rules as `qos_reliability`.",
-      "title": "Qos Durability"
-    },
-    "qos_profile": {
-      "anyOf": [
-        {
-          "$ref": "#/$defs/QosProfile"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Effective DDS QoS profile for this topic when resolvable. `None` from the ROS2 CLI adapter or when the DDS module is inactive. The DDS module populates this on a best-effort basis (picks one representative endpoint if reader/writer QoS differ)."
-    },
-    "qos_reliability": {
-      "anyOf": [
-        {
-          "type": "string"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Reliability announced by the topic's publishers: `reliable`, `best_effort`, or `mixed` when publishers disagree. `null` when unknown: the topic has no publisher, or the value was not read (`list_topics` does not read QoS; `get_topic_info` does).",
-      "title": "Qos Reliability"
-    },
-    "reader_count": {
-      "anyOf": [
-        {
-          "minimum": 0,
-          "type": "integer"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "DDS reader-endpoint count when the active backend can resolve endpoint-level info (Cyclone / Fast DDS). `None` from the ROS2 CLI adapter or when the DDS module is inactive.",
-      "title": "Reader Count"
-    },
-    "subscriber_count": {
-      "description": "Subscribers known to the graph.",
-      "minimum": 0,
-      "title": "Subscriber Count",
-      "type": "integer"
-    },
-    "writer_count": {
-      "anyOf": [
-        {
-          "minimum": 0,
-          "type": "integer"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "DDS writer-endpoint count when the active backend can resolve endpoint-level info. `None` from the ROS2 CLI adapter or when the DDS module is inactive.",
-      "title": "Writer Count"
-    }
-  },
-  "required": [
-    "name",
-    "message_type",
-    "publisher_count",
-    "subscriber_count",
-    "mode_effective"
-  ],
-  "title": "TopicInfo",
-  "type": "object"
-}

Added value: +{
+  "additionalProperties": false,
+  "properties": {
+    "message_type": {
+      "type": "string"
+    },
+    "name": {
+      "type": "string"
+    },
+    "publisher_count": {
+      "minimum": 0,
+      "type": "integer"
+    },
+    "subscriber_count": {
+      "minimum": 0,
+      "type": "integer"
+    }
+  },
+  "required": [
+    "name",
+    "message_type",
+    "publisher_count",
+    "subscriber_count"
+  ],
+  "type": "object"
+}

Added value: +false

Added value: +"Envelope returned by `list_topics`."

Added value: +{
+  "description": "`live` or `mock` (fixtures).",
+  "enum": [
+    "mock",
+    "live"
+  ],
+  "type": "string"
+}

Added value: +{
+  "anyOf": [
+    {
+      "type": "string"
+    },
+    {
+      "type": "null"
+    }
+  ],
+  "default": null,
+  "description": "One sentence of context, or `None`."
+}

Removed value: -{
-  "items": {
-    "$ref": "#/$defs/TopicInfo"
-  },
-  "title": "Result",
-  "type": "array"
-}

Added value: +{
+  "minimum": 0,
+  "type": "integer"
+}

Added value: +{
+  "items": {
+    "$ref": "#/$defs/TopicListItem"
+  },
+  "type": "array"
+}

Added value: +{
+  "minimum": 0,
+  "type": "integer"
+}

Added value: +{
+  "type": "boolean"
+}

Previous value: -[
-  "result"
-]New value: +[
+  "topics",
+  "returned",
+  "total",
+  "truncated",
+  "mode_effective"
+]

Previous value: -"list_topicsOutput"New value: +"TopicListing"

Previous value: -"Accepted for compatibility (0..232). TopicForge observes the domain it joined at startup (TOPICFORGE_DDS_DOMAIN_ID); this argument does not switch domains, and the response `domain_id` says which one was observed."New value: +"Ignored: it does not switch domains and is only range-checked (0..232). The domain observed is the one joined at startup (`TOPICFORGE_DDS_DOMAIN_ID`), reported in the response `domain_id`; `note` flags a different non-zero value."

Removed value: -"Domain Id"

Added value: +{
+  "default": 300,
+  "description": "Window in seconds, 1..86400, default 300. A larger window may hit the 200-event cap.",
+  "maximum": 86400,
+  "minimum": 1,
+  "type": "integer"
+}

Removed value: -{
-  "default": 300,
-  "description": "Window (in seconds) over which to return events. Defaults to 300 (5 minutes). Range: 1..86400 (1 second to 24 hours). Larger windows may hit the 200-event cap: narrow the window or filter on `domain_id` when that happens.",
-  "maximum": 86400,
-  "minimum": 1,
-  "title": "Lookback Seconds",
-  "type": "integer"
-}

Removed value: -"participant_eventsArguments"

Added value: +{
+  "additionalProperties": false,
+  "properties": {
+    "departures": {
+      "description": "Times a participant with this name was lost.",
+      "minimum": 0,
+      "type": "integer"
+    },
+    "lives": {
+      "description": "Distinct GUIDs that carried this name; restarts = `lives` - 1.",
+      "minimum": 1,
+      "type": "integer"
+    }
+  },
+  "required": [
+    "lives",
+    "departures"
+  ],
+  "type": "object"
+}

Removed value: -"A point-in-time lifecycle event (discovered or lost) for a DDS participant.\n\n`ParticipantInfo` is the current state; this is one event in its history.\nReturned by `participant_events`."

Added value: +{
+  "anyOf": [
+    {
+      "minimum": 0,
+      "type": "number"
+    },
+    {
+      "type": "null"
+    }
+  ],
+  "default": null,
+  "description": "Seconds between `timestamp_ns` and this response; `None` in mock mode."
+}

Removed value: -"DDS domain id the event occurred on."

Removed value: -"Domain Id"

Previous value: -"`discovered` when the participant first joined the bus (or rejoined after leaving). `lost` when TopicForge observed a `REMOVED` callback (Fast DDS) or a polling delta where the GUID no longer appears in the DCPSParticipant builtin reader snapshot (Cyclone). The transition is reported once per state change."New value: +"`discovered` (joined or rejoined) or `lost` (removed, or gone from discovery); reported once per change."

Removed value: -"Event Type"

Removed value: -"DDS Global Unique Identifier of the participant involved."

Removed value: -"Guid"

Removed value: -"Hostname announced by the participant when known, else `None`."

Removed value: -"Hostname"

Removed value: -{
-  "description": "Runtime mode the adapter served this response in: `live` (real ROS2 introspection) or `mock` (deterministic fixtures). Lets a caller tell a real graph from a demo one without calling `health_check`.",
-  "enum": [
-    "mock",
-    "live"
-  ],
-  "title": "Mode Effective",
-  "type": "string"
-}

Removed value: -"Participant name (EntityName QoS) when known, else `None`."

Removed value: -"Name"

Previous value: -"Local wall-clock time (ns since epoch) at which TopicForge noticed the event. Always at or after `timestamp_ns` when the latter is DDS-derived. `None` when not tracked."New value: +"Local ns when TopicForge noticed the event, never before a DDS-derived `timestamp_ns`; `None` when untracked."

Removed value: -"Observed Ns"

Previous value: -"Where `timestamp_ns` comes from. `dds_source_timestamp`: the DDS timestamp of the discovery announcement or dispose. For a `lost` event it is an upper bound: exact after a clean shutdown, the lease expiry after a crash (the process died up to one lease earlier: 10 s Cyclone default, 20 s Fast, 100 s RTI), and the two cannot be told apart. `observed_local`: the moment TopicForge noticed (weakest)."New value: +"`dds_source_timestamp` (DDS timestamp of the announcement or dispose; for `lost` an upper bound of the death) or `observed_local` (when TopicForge noticed, weakest)."

Removed value: -"Time Source"

Previous value: -"Wall-clock timestamp (nanoseconds since epoch) when TopicForge captured the event. For Fast DDS this is when the listener callback ran; for Cyclone this is when the polling delta was computed; for mock fixtures this is a deterministic anchor."New value: +"Wall-clock ns of the event; its origin is `time_source`."

Removed value: -"Timestamp Ns"

Removed value: -"DDS implementation tag for the participant involved, decoded the same way as `ParticipantInfo.vendor`."

Removed value: -"Vendor"

Previous value: -[
-  "guid",
-  "event_type",
-  "vendor",
-  "timestamp_ns",
-  "domain_id",
-  "mode_effective"
-]New value: +[
+  "guid",
+  "event_type",
+  "vendor",
+  "timestamp_ns",
+  "domain_id"
+]

Removed value: -"ParticipantEvent"

Added value: +false

Added value: +"Envelope returned by `participant_events`."

Added value: +{
+  "description": "DDS domain observed (joined at startup).",
+  "maximum": 232,
+  "minimum": 0,
+  "type": "integer"
+}

Added value: +{
+  "items": {
+    "$ref": "#/$defs/ParticipantEvent"
+  },
+  "type": "array"
+}

Added value: +{
+  "description": "`live` or `mock` (fixtures).",
+  "enum": [
+    "mock",
+    "live"
+  ],
+  "type": "string"
+}

Added value: +{
+  "anyOf": [
+    {
+      "type": "string"
+    },
+    {
+      "type": "null"
+    }
+  ],
+  "default": null,
+  "description": "One sentence of context, or `None`."
+}

Added value: +{
+  "additionalProperties": {
+    "$ref": "#/$defs/NameLifecycle"
+  },
+  "description": "Names seen with several GUIDs or lost at least once (absent: ran once and stayed). A restart is a new GUID with the same name. Window only.",
+  "type": "object"
+}

Added value: +{
+  "anyOf": [
+    {
+      "type": "string"
+    },
+    {
+      "type": "null"
+    }
+  ],
+  "default": null,
+  "description": "Set when unnamed participants were left out of `restarts_by_name`."
+}

Removed value: -{
-  "items": {
-    "$ref": "#/$defs/ParticipantEvent"
-  },
-  "title": "Result",
-  "type": "array"
-}

Added value: +{
+  "minimum": 0,
+  "type": "integer"
+}

Added value: +{
+  "minimum": 0,
+  "type": "integer"
+}

Added value: +{
+  "description": "True when cut to the 200-event cap.",
+  "type": "boolean"
+}

Previous value: -[
-  "result"
-]New value: +[
+  "events",
+  "returned",
+  "total",
+  "truncated",
+  "domain_id",
+  "mode_effective"
+]

Previous value: -"participant_eventsOutput"New value: +"ParticipantEventListing"

Previous value: -"Maximum number of recent messages to return. Defaults to 5; silently clamped to 50 (the hard cap that keeps tool output bounded; read it from `health_check.max_sample_count`). Negative values raise an error. The returned `SampleResult.count` reflects the actual number of samples produced: it can be lower than the request (empty topic, timeout, mock fixture shorter than requested)."New value: +"Messages to return, default 5, at most 50 (`health_check.max_sample_count`): more is capped to 50, negative raises an error. The result's `count` may be lower."

Removed value: -"Count"

Previous value: -"Path to a bag: a file ending in `.mcap` or `.db3`, or a `rosbag2_*` directory. `peek_bag_samples` also reads ROS 1 `.bag` files; `analyze_bag` does not (`ros2 bag info` cannot open them). Leading/trailing whitespace is stripped. Null bytes and otherwise malformed filesystem paths are rejected. Existence and bag format are validated by the live adapter (mock mode accepts any well-formed path)."New value: +"Bag path: a `.mcap` or `.db3` file or a `rosbag2_*` directory (`peek_bag_samples` also reads ROS 1 `.bag`; `analyze_bag` does not). Existence and format are checked live; mock accepts any well-formed path."

Removed value: -"Path"

Previous value: -"Fully qualified ROS2 topic name starting with `/`, e.g. `/cmd_vel` or `/camera/image_raw`. Each `/`-separated segment must start with a letter or underscore and contain only letters, digits, and underscores; everything else (whitespace, quotes, shell metacharacters, `//`, trailing `/`) is rejected before reaching the `ros2` CLI."New value: +"Fully qualified ROS 2 topic name starting with `/`, e.g. `/cmd_vel`. Segments are letters, digits and underscores (not starting with a digit); anything else is rejected before reaching the `ros2` CLI."

Removed value: -"Topic"

Removed value: -"peek_bag_samplesArguments"

Added value: +{
+  "additionalProperties": false,
+  "properties": {
+    "data_length": {
+      "anyOf": [
+        {
+          "type": "integer"
+        },
+        {
+          "type": "null"
+        }
+      ],
+      "description": "Pixel buffer size in bytes (see `data_length_basis`)."
+    },
+    "data_length_basis": {
+      "anyOf": [
+        {
+          "enum": [
+            "payload",
+            "step_x_height"
+          ],
+          "type": "string"
+        },
+        {
+          "type": "null"
+        }
+      ],
+      "description": "`payload` (counted) or `step_x_height` (array cut, so step times height)."
+    },
+    "encoding": {
+      "anyOf": [
+        {
+          "type": "string"
+        },
+        {
+          "type": "null"
+        }
+      ],
+      "description": "Pixel encoding, e.g. `rgb8`."
+    },
+    "frame_id": {
+      "anyOf": [
+        {
+          "type": "string"
+        },
+        {
+          "type": "null"
+        }
+      ],
+      "description": "`header.frame_id` of the camera."
+    },
+    "height": {
+      "anyOf": [
+        {
+          "type": "integer"
+        },
+        {
+          "type": "null"
+        }
+      ],
+      "description": "Pixels."
+    },
+    "is_bigendian": {
+      "anyOf": [
+        {
+          "type": "boolean"
+        },
+        {
+          "type": "null"
+        }
+      ],
+      "description": "Big-endian pixels."
+    },
+    "note": {
+      "anyOf": [
+        {
+          "type": "string"
+        },
+        {
+          "type": "null"
+        }
+      ],
+      "default": null,
+      "description": "One sentence when partial; else `null`."
+    },
+    "step": {
+      "anyOf": [
+        {
+          "type": "integer"
+        },
+        {
+          "type": "null"
+        }
+      ],
+      "description": "Row length, bytes."
+    },
+    "summary_type": {
+      "const": "image",
+      "type": "string"
+    },
+    "width": {
+      "anyOf": [
+        {
+          "type": "integer"
+        },
+        {
+          "type": "null"
+        }
+      ],
+      "description": "Pixels."
+    }
+  },
+  "required": [
+    "summary_type",
+    "frame_id",
+    "width",
+    "height",
+    "encoding",
+    "step",
+    "is_bigendian",
+    "data_length",
+    "data_length_basis"
+  ],
+  "type": "object"
+}

Added value: +{
+  "additionalProperties": false,
+  "properties": {
+    "angular_velocity_norm": {
+      "anyOf": [
+        {
+          "type": "number"
+        },
+        {
+          "type": "null"
+        }
+      ],
+      "description": "Norm of `angular_velocity`, rad/s."
+    },
+    "frame_id": {
+      "anyOf": [
+        {
+          "type": "string"
+        },
+        {
+          "type": "null"
+        }
+      ],
+      "description": "`header.frame_id` of the IMU."
+    },
+    "linear_acceleration_norm": {
+      "anyOf": [
+        {
+          "type": "number"
+        },
+        {
+          "type": "null"
+        }
+      ],
+      "description": "Norm of `linear_acceleration`, m/s^2."
+    },
+    "note": {
+      "anyOf": [
+        {
+          "type": "string"
+        },
+        {
+          "type": "null"
+        }
+      ],
+      "default": null,
+      "description": "One sentence when a value is unusable; else `null`."
+    },
+    "orientation_valid": {
+      "description": "False when the IMU gives no orientation: `roll`, `pitch`, `yaw` are `null`.",
+      "type": "boolean"
+    },
+    "pitch": {
+      "anyOf": [
+        {
+          "type": "number"
+        },
+        {
+          "type": "null"
+        }
+      ],
+      "description": "Rotation about y, radians."
+    },
+    "roll": {
+      "anyOf": [
+        {
+          "type": "number"
+        },
+        {
+          "type": "null"
+        }
+      ],
+      "description": "Rotation about x, radians."
+    },
+    "summary_type": {
+      "const": "imu",
+      "type": "string"
+    },
+    "yaw": {
+      "anyOf": [
+        {
+          "type": "number"
+        },
+        {
+          "type": "null"
+        }
+      ],
+      "description": "Rotation about z, radians."
+    }
+  },
+  "required": [
+    "summary_type",
+    "frame_id",
+    "orientation_valid",
+    "roll",
+    "pitch",
+    "yaw",
+    "angular_velocity_norm",
+    "linear_acceleration_norm"
+  ],
+  "type": "object"
+}