get_topic_info

Removed value: -[
-  {
-    "type": "string"
-  },
-  {
-    "type": "null"
-  }
-]

Removed value: -null

Added value: +[
+  "string",
+  "null"
+]

Removed value: -null

Removed value: -[
-  {
-    "type": "string"
-  },
-  {
-    "type": "null"
-  }
-]

Removed value: -null

Added value: +[
+  "string",
+  "null"
+]

Removed value: -null

Removed value: -[
-  {
-    "type": "string"
-  },
-  {
-    "type": "null"
-  }
-]

Removed value: -null

Added value: +[
+  "string",
+  "null"
+]

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"
-}