Initial ROS2 AsyncAPI contribution by SIEMENS AG. This was a team eff…

…ort and is corporate internal legally cleared for OSS contribution.

README.md

@@ -16,6 +16,7 @@ This repository contains the specifications for each AsyncAPI protocol binding.
 * [NATS binding](./nats)
 * [Pulsar](./pulsar)
 * [Redis binding](./redis)
+* [ROS2](./ros2)
 * [SNS binding](./sns)
 * [Solace binding](./solace)
 * [SQS binding](./sqs)

ros2/README.md

@@ -0,0 +1,185 @@
+# ROS 2 Bindings
+
+This document defines how to describe ROS 2-specific information in AsyncAPI.
+
+It applies to all versions of ROS 2 (foxy, galactic, humble, iron, jazzy).
+
+<a name="version"></a>
+
+## Version
+
+Current version is `0.1.0`.
+
+<a name="server"></a>
+
+## Server Binding Object
+
+This object contains information about the server representation in ROS 2. 
+ROS 2 can use either DDS or Zenoh as its middleware. 
+DDS is decentralized with no central server, so the field `host` can set to `localhost`.
+When using Zenoh, the `host` field specifies the Zenoh Router IP address.
+
+###### Fixed Fields
+
+Field Name | Type | ROS 2 Versions | Description
+---|:---:|:---:|---|
+`rmwImplementation` | string  | all | Specifies the ROS 2 middleware implementation to be used. Valid values include `rmw_fastrtps_cpp` (Fast DDS), `rmw_cyclonedds_cpp` (Cyclone DDS), `rmw_connext_cpp` (RTI Connext), and `rmw_zenoh_cpp` (Zenoh). This determines the underlying middleware implementation that handles communication.
+`domainId` | integer  | all | 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. Must be a non-negative integer less than 232. 
+
+### Examples
+
+```yaml
+servers:
+  ros2:
+    host: localhost
+    protocol: ros2
+    protocolVersion: humble
+    bindings:
+      ros2:
+        rmwImplementation: rmw_fastrtps_cpp
+        domainId: 0
+```
+
+
+<a name="channel"></a>
+
+## Channel Binding Object
+
+A channel represents a ROS 2 topic, service or action interface.
+
+This object DOES NOT contain any ROS 2 specific properties.
+
+Example - ROS 2 topic:
+
+```yaml
+  address: /turtle1/cmd_vel
+    messages:
+      TwistMsg:
+        $ref: '#/components/messages/TwistMsg'
+```
+Example  - ROS 2 action:
+
+```yaml
+  RotateAbsoluteRequest:
+    address: /turtle1/rotate_absolute
+    messages:
+      RotateAbsoluteActionRequest:
+        $ref: '#/components/messages/RotateAbsoluteActionRequest'
+
+  RotateAbsoluteReply:
+    address: /turtle1/rotate_absolute
+    messages:
+      RotateAbsoluteActionResult:
+        $ref: '#/components/messages/RotateAbsoluteActionResult'
+      RotateAbsoluteActionFeedback:
+        $ref: '#/components/messages/RotateAbsoluteActionFeedback'
+```
+
+<a name="operation"></a>
+
+## Operation Binding Object
+
+AsyncAPI operations with their `send` and `receive` actions map directly to ROS 2 subscribers, publishers, actions or services.
+- send -> `publisher`, `action_client`, `service_client`
+- receive -> `subscriber`, `action_server`, `service_server`
+
+###### Fixed Fields
+
+Field Name | Type | ROS 2 Versions | Description
+---|:---:|:---:|---|
+`type` | string | all | Specifies the ROS 2 type of the node for this operation. Valid values are: `publisher`, `subscriber`, `service_client`, `service_server`, `action_client`, `action_server`. This defines how the node will interact with the associated topic or action.
+`node` | string | all | The name of the ROS 2 node that implements this operation. 
+`qosPolicies` | object | all | Quality of Service (QoS) for the topic.
+
+### Quality of Service Object
+This object contains ROS 2 specific information about the Quality of Service policies.
+More information here: https://docs.ros.org/en/jazzy/Concepts/Intermediate/About-Quality-of-Service-Settings.html#qos-policies
+
+Field Name | Type | ROS 2 Versions | Description
+---|:---:|:---:|---|
+`reliability` | string | all | One of `best_effort` or `reliable`.  More information here: [ROS 2 QoS](https://docs.ros.org/en/jazzy/Concepts/Intermediate/About-Quality-of-Service-Settings.html#qos-policies)
+`history` | string | all | One of `keep_last`, `keep_all` or `unknown`. More information here: [ROS 2 QoS](https://docs.ros.org/en/jazzy/Concepts/Intermediate/About-Quality-of-Service-Settings.html#qos-policies)
+`durability` | string | all | One of `transient_local` or `volatile`. More information here: [ROS 2 QoS](https://docs.ros.org/en/jazzy/Concepts/Intermediate/About-Quality-of-Service-Settings.html#qos-policies)
+`lifespan` | integer | all | 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. 
+`deadline` | integer | all | The expected maximum amount of time between subsequent messages being published to a topic. `-1` means infinite.
+`liveliness` | string | all | One of `automatic`or `manual`. More information here: [ROS 2 QoS](https://docs.ros.org/en/jazzy/Concepts/Intermediate/About-Quality-of-Service-Settings.html#qos-policies)
+`leaseDuration` | integer | all | 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.
+### Examples
+
+ROS 2 subscriber example:
+
+```yaml
+  receiveCmdVel:
+    action: receive
+    channel:
+      $ref: "#/channels/CmdVel"
+    bindings:
+      ros2:
+        role: subscriber
+        node: /turtlesim
+          qosPolicies:
+            history: unknown
+            reliability: reliable
+            durability: volatile
+            lifespan: -1
+            deadline: -1
+            liveliness: automatic
+            leaseDuration: -1
+```
+ROS 2 action Server example:
+
+```yaml
+  receiveRotateAbsolute:
+    action: receive
+    channel:
+      $ref: "#/channels/RotateAbsoluteRequest"
+    reply:
+      channel:
+        $ref: "#/channels/RotateAbsoluteReply"
+    bindings:
+      ros2:
+        role: action_server
+        node: /turtlesim
+```
+
+
+<a name="message"></a>
+
+## Message Binding Object
+
+ROS 2 message types (defined in .msg/.srv/.aciton files) are mapped to AsyncAPI message payloads.
+
+This object DOES NOT contain any ROS 2 specific properties.
+
+```yaml
+Vector3Msg:
+  type: object
+  properties: 
+    x:
+      type: number
+      format: double
+    y:
+      type: number
+      format: double
+    z:
+      type: number
+      format: double
+```
+
+ROS 2  Type | AsyncAPI Type | AsyncAPI Format | 
+---|:---:|---|
+bool | boolean | boolean
+byte | string | octet
+char | integer | uint8
+float32 | number | float
+float64 | number | double
+int8 | integer | int8
+uint8 | integer | uint8
+int16 | integer | int16
+uint16 | integer | uint16
+int32 | integer | int32
+uint32 | integer | uint32
+int64 | integer | int64
+uint64 | integer | uint64
+string | string | string
+array | array | --