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PakisanPakisan
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fix: ROS 2 operation binding
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‎bindings/ros2/0.1.0/operation.json‎

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{
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"type": "object",
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"$schema": "http://json-schema.org/draft-07/schema#",
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"$id": "http://asyncapi.com/bindings/ros2/0.1.0/operation.json",
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"description": "This object contains information about the operation representation in ROS 2.",
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"additionalProperties": false,
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"patternProperties": {
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"^x-[\\w\\d\\.\\x2d_]+$": {
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"$ref": "http://asyncapi.com/definitions/3.0.0/specificationExtension.json"
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}
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},
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"required": [
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"role",
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"node"
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"examples": [
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{
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"node": "/turtlesim",
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"qosPolicies": {
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"deadline": "-1",
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"durability": "volatile",
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"history": "unknown",
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"leaseDuration": "-1",
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"lifespan": "-1",
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"liveliness": "automatic",
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"reliability": "reliable"
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},
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"role": "subscriber"
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}
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],
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"type": "object",
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"required": [ "role", "node" ],
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"properties": {
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"role": {
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"bindingVersion": {
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"description": "The version of this binding. If omitted, 'latest' MUST be assumed.",
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"type": "string",
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"description": "Specifies the ROS 2 type of the node for this operation.",
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"enum": ["publisher", "action_client", "service_client", "subscriber", "action_server", "service_server"]
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"enum": [ "0.1.0" ]
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},
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"node": {
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"type": "string",
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"description": "The name of the ROS 2 node that implements this operation."
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"description": "The name of the ROS 2 node that implements this operation.",
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"type": "string"
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},
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"qosPolicies": {
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"type": "object",
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"properties": {
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"reliability": {
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"type": "string",
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"description": "Specifies the communication guarantee model that determines whether message delivery confirmation between publisher and subscriber is required.",
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"enum": ["best_effort", "realiable"]
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"deadline": {
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"description": "The expected maximum amount of time between subsequent messages being published to a topic. -1 means infinite.",
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"type": "integer"
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},
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"durability": {
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"description": "Persistence specification that determines message availability for late-joining subscribers",
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"type": "string",
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"enum": [ "transient_local", "volatile" ]
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},
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"history": {
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"type": "string",
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"description": "Policy parameter that defines the maximum number of samples maintained in the middleware queue",
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"enum": ["keep_last", "keep_all", "unknown"]
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"description": "Policy parameter that defines the maximum number of samples maintained in the middleware queue",
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"type": "string",
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"enum": [ "keep_last", "keep_all", "unknown" ]
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},
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"durability": {
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"type": "string",
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"description": "Persistence specification that determines message availability for late-joining subscribers",
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"enum": ["transient_local", "volatile"]
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"leaseDuration": {
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"description": "The maximum period of time a publisher has to indicate that it is alive before the system considers it to have lost liveliness. -1 means infinite.",
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"type": "integer"
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},
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"lifespan": {
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"type": "integer",
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"description": "The maximum amount of time between the publishing and the reception of a message without the message being considered stale or expired. -1 means infinite."
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},
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"deadline": {
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"type": "integer",
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"description": "The expected maximum amount of time between subsequent messages being published to a topic. -1 means infinite."
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"description": "The maximum amount of time between the publishing and the reception of a message without the message being considered stale or expired. -1 means infinite.",
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"type": "integer"
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},
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"liveliness": {
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"type": "string",
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"description": "Defines the mechanism by which the system monitors and determines the operational status of communication entities within the network.",
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"enum": ["automatic", "manual"]
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"description": "Defines the mechanism by which the system monitors and determines the operational status of communication entities within the network.",
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"type": "string",
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"enum": [ "automatic", "manual" ]
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},
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"leaseDuration": {
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"type": "integer",
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"description": "The maximum period of time a publisher has to indicate that it is alive before the system considers it to have lost liveliness. -1 means infinite."
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"reliability": {
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"description": "Specifies the communication guarantee model that determines whether message delivery confirmation between publisher and subscriber is required.",
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"type": "string",
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"enum": [ "best_effort", "realiable" ]
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}
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}
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},
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"bindingVersion": {
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"role": {
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"description": "Specifies the ROS 2 type of the node for this operation.",
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"type": "string",
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"enum": [
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"0.1.0"
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],
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"description": "The version of this binding. If omitted, 'latest' MUST be assumed."
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"publisher",
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"action_client",
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"service_client",
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"subscriber",
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"action_server",
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"service_server"
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]
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}
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},
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"examples": {
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"role": "subscriber",
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"node": "/turtlesim",
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"qosPolicies": {
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"history": "unknown",
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"reliability": "reliable",
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"durability": "volatile",
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"lifespan": "-1",
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"deadline": "-1",
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"liveliness": "automatic",
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"leaseDuration": "-1"
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"patternProperties": {
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"^x-[\\w\\d\\.\\x2d_]+$": {
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"$ref": "http://asyncapi.com/definitions/3.0.0/specificationExtension.json"
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}
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}
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}
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},
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"additionalProperties": false
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}

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