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ROS 2 Channel Binding v0.1.0 ​

The ROS 2 channel binding defines how AsyncAPI channels map to ROS 2 topics and communication patterns. This binding provides basic configuration for ROS 2 topic-based communication.

Overview ​

ROS 2 channel bindings configure the communication channels between ROS 2 nodes. They define:

  • Topic Configuration: How channels map to ROS 2 topics
  • Communication Patterns: Publish-subscribe, request-response, and action patterns
  • Channel Properties: Basic settings for ROS 2 communication

Properties ​

PropertyTypeRequiredDescription
bindingVersionstringNoThe version of this binding. If omitted, 'latest' MUST be assumed.

bindingVersion ​

The version of this binding. If omitted, 'latest' MUST be assumed.

Type: string
Default: "0.1.0"
Required: No

Examples ​

Basic Topic Channel ​

yaml
channels:
  sensorData:
    bindings:
      ros2:
        bindingVersion: "0.1.0"

Multiple Topic Channels ​

yaml
channels:
  cameraImage:
    bindings:
      ros2:
        bindingVersion: "0.1.0"
  
  lidarScan:
    bindings:
      ros2:
        bindingVersion: "0.1.0"
  
  robotCommands:
    bindings:
      ros2:
        bindingVersion: "0.1.0"

Service Channel ​

yaml
channels:
  parameterService:
    bindings:
      ros2:
        bindingVersion: "0.1.0"

Use Cases ​

Sensor Data Channels ​

  • Camera Topics: Configure channels for camera image data
  • Lidar Topics: Set up channels for lidar scan data
  • IMU Topics: Define channels for inertial measurement unit data
  • GPS Topics: Configure channels for GPS position data

Control Channels ​

  • Command Topics: Set up channels for robot control commands
  • Status Topics: Define channels for robot status information
  • Feedback Topics: Configure channels for control feedback

Service Channels ​

  • Parameter Services: Configure channels for parameter management
  • Diagnostic Services: Set up channels for system diagnostics
  • Configuration Services: Define channels for system configuration

Channel Types ​

Publish-Subscribe Channels ​

  • One-to-Many: Single publisher, multiple subscribers
  • Many-to-One: Multiple publishers, single subscriber
  • Many-to-Many: Multiple publishers, multiple subscribers

Request-Response Channels ​

  • Service Calls: Synchronous request-response patterns
  • Parameter Management: Configuration and parameter updates
  • System Control: Administrative and control operations

Action Channels ​

  • Long-Running Tasks: Complex behaviors with feedback
  • Navigation Actions: Path planning and execution
  • Manipulation Actions: Robot arm and gripper control

Best Practices ​

Topic Naming ​

  • Use descriptive topic names that indicate the data type
  • Follow ROS 2 naming conventions
  • Use namespaces to organize related topics
  • Avoid generic names that could cause confusion

Channel Organization ​

  • Group related channels together
  • Use consistent naming patterns
  • Document channel purposes and data formats
  • Consider QoS requirements for each channel

Configuration Management ​

  • Version control your channel configurations
  • Document channel dependencies
  • Test channel configurations thoroughly
  • Monitor channel performance and usage