NoDL

NoDL (Node Definition Language) is a schema and toolkit to describe a ROS 2 node’s interface: parameters, topics (publishers and subscriptions), services (clients and servers), and actions (clients and servers).

Note

Status: v2 development. The schema and APIs are not yet stable. Expect breaking changes until v2 is announced for distribution.

Documentation

Packages

  • nodl - the entrypoint metapackage containing core documentation and dependency on subpackages. It is documented by this top-level site and has no separate page.

  • nodl_schema — the NoDL Schema. Provides a Python-based document validator and typed object data model for working with schema objects.

  • ros2nodl — ros2 nodl <verb> ros2cli extension providing NoDL operations.

  • ament_nodl — CMake macros for registering NoDL documents with the ament index.

Each package’s own documentation is staged into this site from its doc/ tree at build time (see nodl/doc/package_docs.py); the same sources build standalone under rosdoc2 for docs.ros.org.

Packages

Source

Repository: https://github.com/ros-tooling/nodl