Pavel on AsyncAPI

Appearance

ROS 2 Message Binding v0.1.0 ​

The ROS 2 message binding defines how AsyncAPI messages map to ROS 2 message types and properties. This binding provides basic configuration for ROS 2 message-based communication.

Overview ​

ROS 2 message bindings configure the message properties and data types used in ROS 2 communication. They define:

  • Message Properties: Basic settings for ROS 2 messages
  • Data Types: How AsyncAPI messages map to ROS 2 message types
  • Communication Patterns: Message-based communication configurations

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 Message Configuration ​

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

Multiple Message Types ​

yaml
channels:
  cameraImage:
    publish:
      message:
        bindings:
          ros2:
            bindingVersion: "0.1.0"
  
  lidarScan:
    publish:
      message:
        bindings:
          ros2:
            bindingVersion: "0.1.0"

Service Message ​

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

Use Cases ​

Sensor Data Messages ​

  • Image Messages: Configure messages for camera image data
  • Point Cloud Messages: Set up messages for lidar scan data
  • IMU Messages: Define messages for inertial measurement unit data
  • GPS Messages: Configure messages for GPS position data

Control Messages ​

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

Service Messages ​

  • Request Messages: Configure messages for service requests
  • Response Messages: Set up messages for service responses
  • Parameter Messages: Define messages for parameter management

Message Types ​

Standard ROS 2 Messages ​

  • Primitive Types: Basic data types (int, float, string, bool)
  • Complex Types: Arrays, structures, and nested objects
  • Time Types: Timestamps and duration values
  • Geometric Types: Points, vectors, and transforms

Custom Message Types ​

  • Domain-Specific: Messages tailored to specific applications
  • Vendor-Specific: Messages for specific hardware or software
  • Protocol-Specific: Messages for specific communication protocols

Service Message Types ​

  • Request Messages: Input parameters for service calls
  • Response Messages: Output parameters for service calls
  • Feedback Messages: Progress updates for long-running operations

Best Practices ​

Message Design ​

  • Use descriptive message names that indicate the data type
  • Follow ROS 2 message naming conventions
  • Keep messages focused on a single purpose
  • Document message structure and field meanings

Data Type Selection ​

  • Choose appropriate primitive types for your data
  • Use standard ROS 2 message types when possible
  • Consider message size and performance implications
  • Validate message compatibility across systems

Message Documentation ​

  • Document message purpose and usage
  • Provide examples of message content
  • Specify data ranges and constraints
  • Include unit information for numeric fields