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PakisanPakisan
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feat: ros2 bindings (#589)
Co-authored-by: Pavel Bodiachevskii <PavelBodyachevskiy@gmail.com>
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‎CODEOWNERS‎

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/bindings/pulsar/ @VisualBean
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/bindings/sns/ @dpwdec @iancooper
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/bindings/sqs/ @dpwdec @iancooper
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/bindings/ros2/ @gramss @amparosancho
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/bindings/*.json @KhudaDad414

‎bindings/ros2/0.1.0/operation.json‎

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{
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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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"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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"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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"enum": [ "0.1.0" ]
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},
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"node": {
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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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"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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"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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"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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"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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"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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"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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"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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"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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"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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"additionalProperties": false
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}

‎bindings/ros2/0.1.0/server.json‎

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{
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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/server.json",
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"description": "This object contains information about the server representation in ROS 2.",
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"examples": [
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{
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"domainId": "0",
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"rmwImplementation": "rmw_fastrtps_cpp"
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}
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],
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"type": "object",
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"required": [ "host", "protocol" ],
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"properties": {
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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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"enum": [ "0.1.0" ]
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},
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"domainId": {
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"description": "All ROS 2 nodes use domain ID 0 by default. To prevent interference between different groups of computers running ROS 2 on the same network, a group can be set with a unique domain ID.",
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"type": "integer",
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"maximum": 231,
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"minimum": 0
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},
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"rmwImplementation": {
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"description": "Specifies the ROS 2 middleware implementation to be used. This determines the underlying middleware implementation that handles communication.",
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"type": "string"
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}
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},
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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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}

‎definitions/3.1.0/operationBindingsObject.json‎

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}
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},
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"redis": {},
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"ros2": {
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"properties": {
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"bindingVersion": {
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"enum": ["0.1.0"]
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}
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},
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"allOf": [
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{
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"description": "If no bindingVersion specified, use the latest binding",
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"if": {
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"not": {
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"required": [
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"bindingVersion"
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]
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}
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},
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"then": {
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"$ref": "http://asyncapi.com/bindings/ros2/0.1.0/operation.json"
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}
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},
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{
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"if": {
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"required": [ "bindingVersion" ],
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"properties": {
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"bindingVersion": {
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"const": "0.1.0"
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}
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}
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},
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"then": {
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"$ref": "http://asyncapi.com/bindings/ros2/0.1.0/operation.json"
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}
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}
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]
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},
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"sns": {
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"allOf": [
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{

‎definitions/3.1.0/serverBindingsObject.json‎

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}
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},
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"redis": {},
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"ros2": {
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"properties": {
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"bindingVersion": {
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"enum": ["0.1.0"]
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}
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},
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"allOf": [
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{
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"description": "If no bindingVersion specified, use the latest binding",
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"if": {
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"not": {
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"required": [
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"bindingVersion"
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]
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}
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},
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"then": {
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"$ref": "http://asyncapi.com/bindings/ros2/0.1.0/server.json"
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}
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},
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{
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"if": {
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"required": [ "bindingVersion" ],
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"properties": {
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"bindingVersion": {
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"const": "0.1.0"
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}
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}
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},
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"then": {
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"$ref": "http://asyncapi.com/bindings/ros2/0.1.0/server.json"
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}
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}
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]
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},
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"sns": {},
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"solace": {
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"allOf": [

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