Add Graph description messages to rosgraph_msgs (backport #188 humble)#189
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Add Graph description messages to rosgraph_msgs (backport #188 humble)#189mergify[bot] wants to merge 1 commit intohumblefrom
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Add new message definitions to rosgraph_msgs that can be used to describe a running or potential ROS Graph. Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> (cherry picked from commit 2209d02)
emersonknapp
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ahcorde
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Apr 13, 2026
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Pulls: #189
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Using ros2/ci#863 |
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Using ros2/ci#863 |
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Pulls: #189
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Description
Fixes #182
Add new message definitions to
rosgraph_msgsthat can be used to describe a running or potential ROS Graph.Graph: a list of nodesNode: describe a single node's parameters and interface endpointsTopic: describe a single topic endpoint, either Publisher or SubscriptionService: describe a single service endpoint, either Server or ClientAction: describe a single action endpoint, either Server or ClientQoSProfile: describe a QoS Profile, either offered or requestedInterfaceType: identify arosidltypeTypeHash: identify a REP-2016 RIHS type hash (rosidl_runtime_cdefined type)This is intended to supplant the definitions in use at https://github.com/ros-tooling/graph-monitor/tree/main/rosgraph_monitor_msgs
Is this user-facing behavior change?
Yes
Did you use Generative AI?
No
Additional Information
Part of the NoDL and rosgraph_monitor work being done within the ROSGraph Working Group.
We would like to get these messages into the core for Lyrical, so that we can build tools around them for release into that LTS distro.
These messages act as a counterpart to the NoDL schema, being used to output either a desired or observed state of a ROS application as a message between nodes. The NoDL schema is not a strict duplicate of the information that these messages will contain, because:
This is an automatic backport of pull request #188 done by [Mergify](https://mergify.com).