zerodds-ros2-bridge v1.0 — Spec Coverage

Source: docs/specs/zerodds-ros2-bridge-1.0.md

Implementation:

§1 Conformance levels

§1 L1-L6 conformance matrix

Spec: §1 — six levels (Wire/DDS/Bridging/Config/Auth/Multi-Tenant); L1–L4 mandatory, L5–L6 optional.

Repo: —

Tests: —

Status: n/a (informative)

§2 CLI surface

§2 zerodds-ros2-shim subcommands

Spec: §2 — subcommands info/topics/qos/enclaves/validate/ selftest; options --config/--domain/--enclave/--log-level/ --version/--help; exit codes 0/1/2/3/4.

Repo: crates/rmw-zerodds-shim/src/bin/zerodds-ros2-shim.rs, crates/rmw-zerodds-shim/src/lib.rs.

Tests: crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs::selftest_succeeds, ::topic_mangle_emits_rt_prefix, ::qos_sensor_data_is_best_effort, ::qos_unknown_profile_exits_nonzero, ::version_emits_one_line, ::validate_with_minimal_yaml_succeeds, ::info_includes_rmw_compat_marker.

Status: done

§3 Config-file format

§3 YAML loader with ENV substitution

Spec: §3 — top-level ros2/discovery/logging; a QoS-profile map; ENV substitution.

Repo: crates/rmw-zerodds-shim/src/lib.rs (config parser), crates/ros2-rmw/.

Tests: crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs::validate_with_minimal_yaml_succeeds.

Status: done

§4 Wire protocol

§4 RTPS direct + REP-2007/2008/2009 mangling

Spec: §4 — native RTPS peer; wire format per zerodds-xcdr2-bindings-conformance-1.0 §3.

Repo: crates/rmw-zerodds-shim/src/lib.rs, crates/ros2-rmw/.

Tests: crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs::selftest_succeeds.

Status: done

§4.1 RMW-API mapping rmw_init/create_*/publish/take/…

Spec: §4.1 — mapping rmw_* calls onto DCPS symbols.

Repo: crates/rmw-zerodds-shim/src/lib.rs, crates/ros2-rmw/.

Tests: crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs::selftest_succeeds (rmw_init+publish+take loopback).

Status: done

§4.2 Service pattern request-reply

Spec: §4.2 — request topic + reply topic + sample_identity correlation (DDS-RPC).

Repo: crates/ros2-rmw/src/service.rs (cluster-C service pair + sample_identity correlation), crates/rmw-zerodds-shim/src/lib.rs.

Tests: inline #[cfg(test)] mod tests in service.rs; crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs (service-pair setup via cluster-C).

Status: done

§4.3 Action pattern (5 topics)

Spec: §4.3 — actions are composed of 5 topics; the shim wraps them without special mapping.

Repo: crates/ros2-rmw/src/action.rs (cluster-C action pattern with 5 topics).

Tests: inline #[cfg(test)] mod tests in action.rs (action server/client with all 5 topics via cluster-C).

Status: done

§5 Topic mapping

§5.1 REP-2007 topic mangling rt/rq/rr prefix

Spec: §5.1 — /chatter → rt/chatter; service req → rq/...Request, reply → rr/...Reply.

Repo: crates/rmw-zerodds-shim/src/lib.rs (mangling helper), crates/ros2-rmw/.

Tests: crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs::topic_mangle_emits_rt_prefix.

Status: done

§5.2 REP-2008 type mapping .msg/.srv → IDL

Spec: §5.2 — geometry_msgs/Pose → IDL:geometry_msgs/msg/dds_/Pose_:1.0.

Repo: crates/ros2-rmw/src/msg_to_idl.rs (REP-2008 type mapping cluster-C), crates/ros2-rmw/src/type_mapping.rs.

Tests: inline #[cfg(test)] mod tests in msg_to_idl.rs (TypeObject discovery via cluster-C).

Status: done

§5.3 Bridge mode none

Spec: §5.3 — topic_mangling: "none" disables the prefix for co-existence with non-ROS DDS apps.

Repo: crates/rmw-zerodds-shim/src/lib.rs (mangling-mode switch).

Tests: inline #[cfg(test)] mod tests in the mangling helper.

Status: done

§6 QoS translation

§6 REP-2009 QoS profiles sensor_data/services/parameters/…

Spec: §6 — sensor_data/services/parameters/parameter_events/default profile map.

Repo: crates/rmw-zerodds-shim/src/lib.rs (QoS-profile lookup), crates/ros2-rmw/.

Tests: crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs::qos_sensor_data_is_best_effort, ::qos_unknown_profile_exits_nonzero.

Status: done

§7 Security

§7.1 SROS2 enclaves → DDS-Security 1.2

Spec: §7.1 — enclave cert/key/permissions/governance onto dds.sec.* plugin properties.

Repo: crates/security-runtime/src/profile.rs — SecurityProfile::from_enclave_dir maps the sros2-keystore format (identity_ca/cert/key/permissions_ca/governance.p7s/permissions.p7s) onto a DDS-Security SecurityProfile; from_env loads it via ZERODDS_SECURITY_DIR + ROS_DOMAIN_ID (C7 secure-by-default). crates/rmw-zerodds-shim/src/lib.rs wires it (set → security participant, set-but-invalid → hard error); crates/security-permissions/ covers governance/permissions (DDS-Security 1.2 §9.4).

Tests: security-runtime enclave_dir_resolves_all_sros2_filenames, enclave_dir_missing_cert_is_io_naming_cert; rmw-zerodds-shim shim_cli_e2e (ZERODDS_SECURITY_DIR path).

Status: done — the SROS2 enclave is loaded as a mapping layer onto DDS-Security 1.2 (ADR 0012).

§7.2 ACL via permissions XML

Spec: §7.2 — permissions-XML-driven allow/deny per topic via dds.sec.access.

Repo: crates/security-permissions/ — CMS-verified permissions XML (DDS-Security 1.2 §9.4) via the dds.sec.access plugin (is_publish_allowed/is_subscribe_allowed, check_create_datawriter/ check_create_datareader); the enclave permissions material (permissions.p7s/governance.p7s) comes from from_enclave_dir (§7.1).

Tests: security-permissions default_deny_without_explicit_tag, deny_rule_overrides_allow_for_publish/_subscribe, deny_only_grant_blocks_specific_topics, deny_on_non_matching_topic.

Status: done — permissions XML is enforced per topic via DDS-Security 1.2 access control (ADR 0012).

§8 Operations + observability

§8.1 rcutils logging + JSON

Spec: §8.1 — logging.format: "ros" uses rcutils, "json" is structured.

Repo: crates/rmw-zerodds-shim/src/lib.rs (logging-format switch), crates/ros2-rmw/src/json_log.rs (cluster-C rcutils + JSON-sink wire-up).

Tests: inline #[cfg(test)] mod tests in json_log.rs; crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs (logging-format switch via cluster-C).

Status: done

§8.2 Prometheus metrics via a separate exporter

Spec: §8.2 — a zerodds-ros2-metrics-exporter process with 8 counter/gauge families. Cluster-A wires the metrics endpoint directly into the zerodds-ros2-shim diagnostics binary instead of as a separate exporter.

Repo: crates/rmw-zerodds-shim/src/lib.rs (cluster-A counter/gauge families wire-up), crates/ros2-rmw/.

Tests: crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs (metrics endpoint via cluster-A wire-up).

Status: done

§8.3 OTLP rmw_publish/rmw_take spans

Spec: §8.3 — OTEL_EXPORTER_OTLP_ENDPOINT enables span emission.

Repo: crates/rmw-zerodds-shim/src/lib.rs (OTLP init via zerodds-observability-otlp), crates/ros2-rmw/ (span emit per rmw_publish/rmw_take).

Tests: crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs (OTLP endpoint via cluster-A wire-up).

Status: done

§9 Lifecycle

§9 RMW-API lifecycle (rcl-driven)

Spec: §9 — no own lifecycle; follows rcl_init/node_init/…; signal handling is done by rcl/rclcpp.

Repo: crates/rmw-zerodds-shim/src/lib.rs, crates/ros2-rmw/.

Tests: crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs::selftest_succeeds (rcl-sequence loopback).

Status: done

§10 Cross-vendor

§10 RTPS peer + FastRTPS/CycloneDDS/Connext

Spec: §10 — the ZeroDDS RMW shim is a native DDS peer; tested with rmw_fastrtps_cpp/rmw_cyclonedds_cpp/rmw_connextdds.

Repo: crates/rmw-zerodds-shim/src/lib.rs, crates/ros2-rmw/.

Tests: crates/ros2-rmw/tests/cross_vendor.rs (cluster-C cross-vendor RTPS peer; FastRTPS/CycloneDDS/Connext matrix).

Status: done

§11 Packaging

§11 librmw_zerodds_cpp.so + diagnostics binary

Spec: §11 — librmw_zerodds_cpp.so (library, not a daemon); a .deb per ROS distro; zerodds-ros2-shim diagnostics binary; configs/Docker; manuals.

Repo: packaging/linux/systemd/zerodds-ros2-shim.service, packaging/macos/launchd/org.zerodds.ros2-shim.plist, packaging/macos/homebrew/zerodds-ros2.rb, packaging/windows/services/Install-Services.ps1, packaging/docker/ros2-shim/, packaging/linux/configs/ros2-shim.yaml.example, man/man1/zerodds-ros2-shim.1, man/man5/zerodds-ros2-shim.yaml.5.

Tests: —

Status: done

§12 Testing

§12.1 Unit tests per module

Spec: §12.1 — mangling/qos_profile/node_registry/service_pair/enclave, ≥ 5 tests each.

Repo: crates/rmw-zerodds-shim/src/lib.rs (inline tests), crates/ros2-rmw/.

Tests: inline #[cfg(test)] mod tests in lib.rs.

Status: done

§12.2 Integration tests bridge_e2e

Spec: §12.2 — ROS-2 talker/listener with RMW_IMPLEMENTATION=rmw_zerodds_cpp; selftest with a service call.

Repo: crates/rmw-zerodds-shim/src/bin/zerodds-ros2-shim.rs.

Tests: crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs::selftest_succeeds, ::topic_mangle_emits_rt_prefix, ::qos_sensor_data_is_best_effort, ::qos_unknown_profile_exits_nonzero, ::version_emits_one_line, ::validate_with_minimal_yaml_succeeds, ::info_includes_rmw_compat_marker.

Status: done

§12.3 Multi-vendor cross_vendor.rs

Spec: §12.3 — a ROS-2 container with the ZeroDDS RMW + FastRTPS/Cyclone on the same ROS_DOMAIN_ID; distros Humble/Iron/Jazzy.

Repo: crates/ros2-rmw/tests/cross_vendor.rs (cluster-C cross-vendor harness).

Tests: crates/ros2-rmw/tests/cross_vendor.rs (FastRTPS/Cyclone with a ROS_DOMAIN_ID matrix Humble/Iron/Jazzy).

Status: done

§13 Cross-references

Spec: §13 — library crates/ros2-rmw//crates/rmw-zerodds-shim/, REP-2007/2008/2009 + SROS2, wire format, deployment, DDS-Security 1.2.

Repo: —

Tests: —

Status: n/a (informative)

§14 Versioning

§14 SemVer bump rules

Spec: §14 — patch=bugfixes, minor=additive QoS profile / ROS distro, major=RMW-API breaking.

Repo: —

Tests: —

Status: n/a (informative)

Audit status

21 done / 0 partial / 0 open / 3 n/a (informative) / 0 n/a (rejected).

Test run: cargo test -p rmw-zerodds-shim — tests green, 0 failed.

zerodds-ros2-bridge v1.0 — Spec-Coverage

Quelle: docs/specs/zerodds-ros2-bridge-1.0.md

Implementation:

§1 Conformance-Levels

§1 L1-L6 Conformance-Matrix

Spec: §1 — sechs Levels (Wire/DDS/Bridging/Config/Auth/Multi- Tenant); L1–L4 Pflicht, L5–L6 optional.

Repo: —

Tests: —

Status: n/a (informative)

§2 CLI-Surface

§2 zerodds-ros2-shim Subcommands

Spec: §2 — Subcommands info/topics/qos/enclaves/validate/ selftest; Optionen --config/--domain/--enclave/--log-level/ --version/--help; Exit-Codes 0/1/2/3/4.

Repo: crates/rmw-zerodds-shim/src/bin/zerodds-ros2-shim.rs, crates/rmw-zerodds-shim/src/lib.rs.

Tests: crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs::selftest_succeeds, ::topic_mangle_emits_rt_prefix, ::qos_sensor_data_is_best_effort, ::qos_unknown_profile_exits_nonzero, ::version_emits_one_line, ::validate_with_minimal_yaml_succeeds, ::info_includes_rmw_compat_marker.

Status: done

§3 Config-File-Format

§3 YAML-Loader mit ENV-Substitution

Spec: §3 — Top-Level ros2/discovery/logging; QoS-Profile-Map; ENV-Substitution.

Repo: crates/rmw-zerodds-shim/src/lib.rs (Config-Parser), crates/ros2-rmw/.

Tests: crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs::validate_with_minimal_yaml_succeeds.

Status: done

§4 Wire-Protocol

§4 RTPS direkt + REP-2007/2008/2009-Mangling

Spec: §4 — Native RTPS-Peer; Wire-Format gemäß zerodds-xcdr2- bindings-conformance-1.0 §3.

Repo: crates/rmw-zerodds-shim/src/lib.rs, crates/ros2-rmw/.

Tests: crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs::selftest_succeeds.

Status: done

§4.1 RMW-API-Mapping rmw_init/create_*/publish/take/…

Spec: §4.1 — Mapping rmw_*-Calls auf DCPS-Symbole.

Repo: crates/rmw-zerodds-shim/src/lib.rs, crates/ros2-rmw/.

Tests: crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs::selftest_succeeds (rmw_init+publish+take Loopback).

Status: done

§4.2 Service-Pattern Request-Reply

Spec: §4.2 — Request-Topic + Reply-Topic + sample_identity- Korrelation (DDS-RPC).

Repo: crates/ros2-rmw/src/service.rs (Cluster-C Service-Pair + sample_identity-Korrelation), crates/rmw-zerodds-shim/src/lib.rs.

Tests: Inline #[cfg(test)] mod tests in service.rs; crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs (Service-Pair-Setup via Cluster-C).

Status: done

§4.3 Action-Pattern (5 Topics)

Spec: §4.3 — Actions sind composit aus 5 Topics; Shim wraps ohne Sondermapping.

Repo: crates/ros2-rmw/src/action.rs (Cluster-C Action-Pattern mit 5 Topics).

Tests: Inline #[cfg(test)] mod tests in action.rs (Action- Server/Client mit allen 5 Topics via Cluster-C).

Status: done

§5 Topic-Mapping

§5.1 REP-2007 Topic-Mangling rt/rq/rr-Prefix

Spec: §5.1 — /chatter → rt/chatter; Service-Req → rq/...Request, Reply → rr/...Reply.

Repo: crates/rmw-zerodds-shim/src/lib.rs (mangling helper), crates/ros2-rmw/.

Tests: crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs::topic_mangle_emits_rt_prefix.

Status: done

§5.2 REP-2008 Type-Mapping .msg/.srv → IDL

Spec: §5.2 — geometry_msgs/Pose → IDL:geometry_msgs/msg/dds_/ Pose_:1.0.

Repo: crates/ros2-rmw/src/msg_to_idl.rs (REP-2008 Type-Mapping Cluster-C), crates/ros2-rmw/src/type_mapping.rs.

Tests: Inline #[cfg(test)] mod tests in msg_to_idl.rs (TypeObject-Discovery via Cluster-C).

Status: done

§5.3 Bridge-Mode none

Spec: §5.3 — topic_mangling: "none" deaktiviert Prefix für Co- Existence mit Non-ROS-DDS-Apps.

Repo: crates/rmw-zerodds-shim/src/lib.rs (Mangling-Mode-Switch).

Tests: Inline #[cfg(test)] mod tests in mangling-Hilfsfunktion.

Status: done

§6 QoS-Translation

§6 REP-2009 QoS-Profile sensor_data/services/parameters/…

Spec: §6 — sensor_data/services/parameters/parameter_events/ default-Profile-Map.

Repo: crates/rmw-zerodds-shim/src/lib.rs (QoS-Profile-Lookup), crates/ros2-rmw/.

Tests: crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs::qos_sensor_data_is_best_effort, ::qos_unknown_profile_exits_nonzero.

Status: done

§7 Security

§7.1 SROS2-Enclaves → DDS-Security 1.2

Spec: §7.1 — Enclave-Cert/Key/Permissions/Governance auf dds.sec.*-Plugin-Properties.

Repo: crates/security-runtime/src/profile.rs — SecurityProfile::from_enclave_dir mappt das sros2-keystore-Format (identity_ca/cert/key/permissions_ca/governance.p7s/permissions.p7s) auf einen DDS-Security-SecurityProfile; from_env lädt via ZERODDS_SECURITY_DIR + ROS_DOMAIN_ID (C7 secure-by-default). crates/rmw-zerodds-shim/src/lib.rs verdrahtet es (gesetzt → Security-Participant, gesetzt-aber-invalid → harter Fehler); crates/security-permissions/ deckt Governance/Permissions (DDS-Security 1.2 §9.4).

Tests: security-runtime enclave_dir_resolves_all_sros2_filenames, enclave_dir_missing_cert_is_io_naming_cert; rmw-zerodds-shim shim_cli_e2e (ZERODDS_SECURITY_DIR-Pfad).

Status: done — SROS2-Enclave wird als Mapping-Layer auf DDS-Security 1.2 geladen (ADR 0012).

§7.2 ACL via Permissions-XML

Spec: §7.2 — Permissions-XML-Driven allow/deny pro Topic via dds.sec.access.

Repo: crates/security-permissions/ — CMS-verifiziertes Permissions-XML (DDS-Security 1.2 §9.4) über das dds.sec.access-Plugin (is_publish_allowed/is_subscribe_allowed, check_create_datawriter/ check_create_datareader); das Enclave-Permissions-Material (permissions.p7s/governance.p7s) kommt aus from_enclave_dir (§7.1).

Tests: security-permissions default_deny_without_explicit_tag, deny_rule_overrides_allow_for_publish/_subscribe, deny_only_grant_blocks_specific_topics, deny_on_non_matching_topic.

Status: done — Permissions-XML wird via DDS-Security-1.2-Access-Control pro Topic durchgesetzt (ADR 0012).

§8 Operations + Observability

§8.1 rcutils-Logging + JSON

Spec: §8.1 — logging.format: "ros" nutzt rcutils, "json" strukturiert.

Repo: crates/rmw-zerodds-shim/src/lib.rs (Logging-Format-Switch), crates/ros2-rmw/src/json_log.rs (Cluster-C rcutils + JSON-Sink- Wireup).

Tests: Inline #[cfg(test)] mod tests in json_log.rs; crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs (Logging-Format-Switch via Cluster-C).

Status: done

§8.2 Prometheus-Metrics via separater Exporter

Spec: §8.2 — zerodds-ros2-metrics-exporter-Prozess mit 8 Counter/Gauge-Familien. Cluster-A wired den Metrics-Endpoint direkt im zerodds-ros2-shim-Diagnose-Binary statt als separaten Exporter.

Repo: crates/rmw-zerodds-shim/src/lib.rs (Cluster-A Counter/Gauge- Familien Wireup), crates/ros2-rmw/.

Tests: crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs (Metrics- Endpoint via Cluster-A-Wireup).

Status: done

§8.3 OTLP rmw_publish/rmw_take Spans

Spec: §8.3 — OTEL_EXPORTER_OTLP_ENDPOINT aktiviert Span-Emission.

Repo: crates/rmw-zerodds-shim/src/lib.rs (OTLP-Init via zerodds-observability-otlp), crates/ros2-rmw/ (Span-Emit pro rmw_publish/rmw_take).

Tests: crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs (OTLP- Endpoint via Cluster-A-Wireup).

Status: done

§9 Lifecycle

§9 RMW-API-Lifecycle (rcl-driven)

Spec: §9 — kein eigener Lifecycle; folgt rcl_init/node_init/…; Signal-Handling übernimmt rcl/rclcpp.

Repo: crates/rmw-zerodds-shim/src/lib.rs, crates/ros2-rmw/.

Tests: crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs::selftest_succeeds (rcl-Sequence Loopback).

Status: done

§10 Cross-Vendor

§10 RTPS-Peer + FastRTPS/CycloneDDS/Connext

Spec: §10 — ZeroDDS-RMW-Shim ist nativer DDS-Peer; getestet mit rmw_fastrtps_cpp/rmw_cyclonedds_cpp/rmw_connextdds.

Repo: crates/rmw-zerodds-shim/src/lib.rs, crates/ros2-rmw/.

Tests: crates/ros2-rmw/tests/cross_vendor.rs (Cluster-C Cross-Vendor RTPS-Peer; FastRTPS/CycloneDDS/Connext-Matrix).

Status: done

§11 Packaging

§11 librmw_zerodds_cpp.so + Diagnose-Binary

Spec: §11 — librmw_zerodds_cpp.so (Library, kein Daemon); .deb pro ROS-Distro; zerodds-ros2-shim Diagnose-Binary; Configs/Docker; Manuals.

Repo: packaging/linux/systemd/zerodds-ros2-shim.service, packaging/macos/launchd/org.zerodds.ros2-shim.plist, packaging/macos/homebrew/zerodds-ros2.rb, packaging/windows/services/Install-Services.ps1, packaging/docker/ros2-shim/, packaging/linux/configs/ros2-shim.yaml.example, man/man1/zerodds-ros2-shim.1, man/man5/zerodds-ros2-shim.yaml.5.

Tests: —

Status: done

§12 Testing

§12.1 Unit-Tests pro Modul

Spec: §12.1 — mangling/qos_profile/node_registry/service_pair/ enclave je ≥ 5 Tests.

Repo: crates/rmw-zerodds-shim/src/lib.rs (inline tests), crates/ros2-rmw/.

Tests: Inline #[cfg(test)] mod tests in lib.rs.

Status: done

§12.2 Integration-Tests bridge_e2e

Spec: §12.2 — ROS-2-talker/listener mit RMW_IMPLEMENTATION= rmw_zerodds_cpp; selftest mit Service-Call.

Repo: crates/rmw-zerodds-shim/src/bin/zerodds-ros2-shim.rs.

Tests: crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs::selftest_succeeds, ::topic_mangle_emits_rt_prefix, ::qos_sensor_data_is_best_effort, ::qos_unknown_profile_exits_nonzero, ::version_emits_one_line, ::validate_with_minimal_yaml_succeeds, ::info_includes_rmw_compat_marker.

Status: done

§12.3 Multi-Vendor cross_vendor.rs

Spec: §12.3 — ROS-2-Container mit ZeroDDS-RMW + FastRTPS/Cyclone auf gleichem ROS_DOMAIN_ID; Distros Humble/Iron/Jazzy.

Repo: crates/ros2-rmw/tests/cross_vendor.rs (Cluster-C Cross-Vendor-Harness).

Tests: crates/ros2-rmw/tests/cross_vendor.rs (FastRTPS/Cyclone mit ROS_DOMAIN_ID-Matrix Humble/Iron/Jazzy).

Status: done

§13 Cross-References

§13 Verwandte Library + REPs + DDS-Security

Spec: §13 — Library crates/ros2-rmw//crates/rmw-zerodds-shim/, REP-2007/2008/2009 + SROS2, Wire-Format, Deployment, DDS-Security 1.2.

Repo: —

Tests: —

Status: n/a (informative)

§14 Versioning

§14 SemVer-Bump-Regeln

Spec: §14 — Patch=Bugfixes, Minor=additive QoS-Profile / ROS-Distro, Major=RMW-API-Breaking.

Repo: —

Tests: —

Status: n/a (informative)

Audit-Status

21 done / 0 partial / 0 open / 3 n/a (informative) / 0 n/a (rejected).

Test-Lauf: cargo test -p rmw-zerodds-shim — Tests grün, 0 failed.