changedInput schema / properties / topic / description
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."
removedInput schema / properties / topic / title
Removed value: -"Topic"
removedInput schema / title
Removed value: -"get_topic_infoArguments"
removedOutput schema / $defs / QosProfile
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"
-}
addedOutput schema / $defs / SideQos
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"
+}
changedOutput schema / description
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."
removedOutput schema / properties / message_type / description
Removed value: -"ROS2 message type, e.g. `geometry_msgs/msg/Twist`."
removedOutput schema / properties / message_type / title
Removed value: -"Message Type"
changedOutput schema / properties / mode_effective / description
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)."
removedOutput schema / properties / mode_effective / title
Removed value: -"Mode Effective"
removedOutput schema / properties / name / description
Removed value: -"Fully qualified topic name, e.g. `/cmd_vel`."
removedOutput schema / properties / name / title
Removed value: -"Name"
addedOutput schema / properties / note
Added value: +{
+ "anyOf": [
+ {
+ "type": "string"
+ },
+ {
+ "type": "null"
+ }
+ ],
+ "default": null,
+ "description": "One sentence of context, or `None`."
+}
removedOutput schema / properties / publisher_count / description
Removed value: -"Publishers known to the graph."
removedOutput schema / properties / publisher_count / title
Removed value: -"Publisher Count"
addedOutput schema / properties / publisher_nodes
Added value: +{
+ "description": "Publisher node names (`ros2 topic info --verbose`); empty when unknown.",
+ "items": {
+ "type": "string"
+ },
+ "type": "array"
+}
addedOutput schema / properties / publisher_qos
Added value: +{
+ "anyOf": [
+ {
+ "$ref": "#/$defs/SideQos"
+ },
+ {
+ "type": "null"
+ }
+ ],
+ "default": null,
+ "description": "QoS of the publishers. `None` when it was not read: see `publisher_qos_note`."
+}
addedOutput schema / properties / publisher_qos_note
Added value: +{
+ "anyOf": [
+ {
+ "type": "string"
+ },
+ {
+ "type": "null"
+ }
+ ],
+ "default": null,
+ "description": "Why `publisher_qos` is `None`. `None` when it is set."
+}
removedOutput schema / properties / qos_durability
Removed value: -{
- "anyOf": [
- {
- "type": "string"
- },
- {
- "type": "null"
- }
- ],
- "default": null,
- "description": "Durability announced by the topic's publishers: `volatile`, `transient_local` (late subscribers receive the last samples; typical of latched topics such as `/tf_static`), or `mixed` when publishers disagree. `null` when unknown, with the same rules as `qos_reliability`.",
- "title": "Qos Durability"
-}
removedOutput schema / properties / qos_profile
Removed value: -{
- "anyOf": [
- {
- "$ref": "#/$defs/QosProfile"
- },
- {
- "type": "null"
- }
- ],
- "default": null,
- "description": "Effective DDS QoS profile for this topic when resolvable. `None` from the ROS2 CLI adapter or when the DDS module is inactive. The DDS module populates this on a best-effort basis (picks one representative endpoint if reader/writer QoS differ)."
-}
removedOutput schema / properties / qos_reliability
Removed value: -{
- "anyOf": [
- {
- "type": "string"
- },
- {
- "type": "null"
- }
- ],
- "default": null,
- "description": "Reliability announced by the topic's publishers: `reliable`, `best_effort`, or `mixed` when publishers disagree. `null` when unknown: the topic has no publisher, or the value was not read (`list_topics` does not read QoS; `get_topic_info` does).",
- "title": "Qos Reliability"
-}
removedOutput schema / properties / reader_count
Removed value: -{
- "anyOf": [
- {
- "minimum": 0,
- "type": "integer"
- },
- {
- "type": "null"
- }
- ],
- "default": null,
- "description": "DDS reader-endpoint count when the active backend can resolve endpoint-level info (Cyclone / Fast DDS). `None` from the ROS2 CLI adapter or when the DDS module is inactive.",
- "title": "Reader Count"
-}
removedOutput schema / properties / subscriber_count / description
Removed value: -"Subscribers known to the graph."
removedOutput schema / properties / subscriber_count / title
Removed value: -"Subscriber Count"
addedOutput schema / properties / subscriber_nodes
Added value: +{
+ "description": "Subscriber node names; empty when unknown.",
+ "items": {
+ "type": "string"
+ },
+ "type": "array"
+}
addedOutput schema / properties / subscription_qos
Added value: +{
+ "anyOf": [
+ {
+ "$ref": "#/$defs/SideQos"
+ },
+ {
+ "type": "null"
+ }
+ ],
+ "default": null,
+ "description": "QoS of the subscriptions. `None` when it was not read: see `subscription_qos_note`."
+}
addedOutput schema / properties / subscription_qos_note
Added value: +{
+ "anyOf": [
+ {
+ "type": "string"
+ },
+ {
+ "type": "null"
+ }
+ ],
+ "default": null,
+ "description": "Why `subscription_qos` is `None`. `None` when it is set."
+}
removedOutput schema / properties / writer_count
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"
-}
