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

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

Implementation:

crates/rmw-zerodds-shim/ · docs.rs — ROS 2 RMW shim (rmw_zerodds).

§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) — assignment of the levels; the requirements are the items §2 to §12.

§2 CLI surface

§2 zerodds-ros2-shim subcommands

Spec: §2 — subcommands info/topics/qos/enclaves/validate/ selftest; options --config/--set/--check-config/--domain/ --version/--help; refused with a pointer: --runtime-config/--log-level/--enclave; 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, ::flags_of_the_old_shim_file_are_refused_with_their_replacement.

Status: done

§3 Config-file format

§3 The `ros2` section of the runtime configuration

Spec: §3 — ros2.topic_mangling/custom_mangling.topic_prefix, qos_profiles (the REP-2009 table, replaceable field by field), topic_overrides (qos_profile or a qos map), time_based_filter; keys rcl owns are refused; ENV substitution.

Repo: crates/rmw-zerodds-shim/src/ros2_config.rs (Ros2Config), crates/rmw-zerodds-shim/src/lib.rs (rmw_zerodds_init, rmw_zerodds_create_publisher/_subscription: effective_qos, dds_topic), crates/dcps/src/runtime.rs (is_rmw_path), packaging/linux/configs/ros2.yaml.example, man/man5/zerodds-ros2.yaml.5.

Tests: crates/rmw-zerodds-shim/src/ros2_config.rs::tests (6), crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs::topic_shows_the_configured_mangling_and_override, ::check_config_refuses_what_rcl_owns, crates/dcps/tests/runtime_config_layering.rs::the_rmw_section_is_not_an_unknown_key_for_other_programs, tools/traceability/tests/bridge_config_manpages.rs.

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 — rq/<service>Request/rr/<service>Reply with the types <pkg>::srv::dds_::<Srv>_Request_/_Response_; correlation in the peer’s form (Cyclone: guid/seq before the body; Fast DDS: related_sample_identity, PID 0x800f); graph (ros2 service list, ros2 node info).

Repo: crates/rmw-zerodds-shim/src/services.rs, crates/rmw-zerodds-shim/rmw_c/rmw_zerodds.c (service calls, graph), crates/dcps/src/runtime.rs (write_user_sample_related, UserSample::Alive.related_sample_identity, participant_vendor), crates/rtps/src/inline_qos.rs (PID_EPROSIMA_RELATED_SAMPLE_IDENTITY).

Tests: crates/rmw-zerodds-shim/rmw_c/run_ros2_services_test.sh (Linux test host, Humble, demo_nodes_py AddTwoInts 2 + 3: server/client zerodds↔︎zerodds, cyclonedds→zerodds, zerodds→cyclonedds, fastrtps→zerodds, zerodds→fastrtps each Result of add_two_ints: 5), crates/rmw-zerodds-shim/src/lib.rs::tests::{a_service_call_between_two_runtimes_correlates_by_the_related_identity, two_clients_in_one_runtime_each_get_their_own_reply}, crates/rmw-zerodds-shim/src/services.rs::tests::{the_cyclone_header_reads_in_both_byte_orders, user_data_keys_read_like_rmw_cyclonedds, a_full_table_drops_its_oldest_entry}, crates/dcps/src/runtime.rs::tests::the_related_identity_is_0x0083_or_eprosimas_0x800f_from_a_writer_that_means_it, crates/rtps/src/inline_qos.rs::tests::the_eprosima_pid_is_found_exactly_and_not_as_0x0083, crates/rmw-zerodds-shim/src/ros2_config.rs::tests::service_topics_are_the_rq_rr_names_of_the_other_rmws.

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: crates/ros2-rmw/src/action.rs::tests: topic_set_has_exactly_5_topics, goal_topic_uses_rq_prefix_and_send_goal_suffix, cancel_topic_uses_rq_prefix_and_cancel_suffix, result_topic_uses_rr_prefix_and_reply_suffix, feedback_and_status_use_rt_prefix, handles_action_name_without_leading_slash; crates/ros2-rmw/tests/cross_vendor.rs::action_topic_set_matches_cyclone_format.

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: crates/ros2-rmw/src/msg_to_idl.rs::tests: parse_simple_msg_three_fields, parse_skips_comments_and_blank_lines, parse_array_spec, parse_constants_are_ignored, idl_mapping_primitives, idl_mapping_qualified_type, render_idl_produces_module_and_struct.

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/ros2_config.rs (Mangling::None, dds_topic, dds_service_topics).

Tests: crates/rmw-zerodds-shim/src/ros2_config.rs::tests::{mangling_none_and_custom_name_the_dds_topic, service_topics_are_the_rq_rr_names_of_the_other_rmws}, crates/rmw-zerodds-shim/rmw_c/run_ros2_config_test.sh (5b: Cyclone reads the topic without prefix from SEDP, Linux test host).

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: crates/security-permissions/src/xml.rs::tests::default_deny_without_explicit_tag, crates/security-permissions/src/plugin.rs::tests::{deny_on_non_matching_topic, deny_writer_when_only_subscribe_granted, permit_reader_on_subscribe_allowed_topic, allow_rule_and_deny_rule_decide_the_same_xml_differently, deny_rule_also_binds_the_reader_side} (allow and deny per topic, writer and reader side).

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: crates/ros2-rmw/src/json_log.rs::tests: level_strings_match_rcutils, render_json_simple, render_json_escapes_quotes_and_backslash, render_json_escapes_newline_and_tab, render_json_escapes_control_char.

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: —

Tests: —

Status: open — zerodds-ros2-shim metrics prints the name catalogue, but no test in crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs calls it, and no counter is incremented on the rmw path. ### §8.3 OTLP rmw_publish/rmw_take spans

Spec: §8.3 — OTEL_EXPORTER_OTLP_ENDPOINT enables span emission.

Repo: —

Tests: —

Status: open — neither crates/rmw-zerodds-shim/ nor crates/ros2-rmw/ names OTEL_EXPORTER_OTLP_ENDPOINT or emits a span. ## §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; cross-vendor with rmw_fastrtps_cpp, rmw_cyclonedds_cpp and rmw_connextdds; ROS distros Humble, Iron, Jazzy, Rolling with a build target each.

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

Tests: crates/rmw-zerodds-shim/rmw_c/run_qos_translation_test.sh (Linux test host, Humble, with RMW_PUB/RMW_SUB: topics both ways with rmw_cyclonedds_cpp and rmw_fastrtps_cpp), crates/rmw-zerodds-shim/rmw_c/run_ros2_services_test.sh (services both ways with the same partners); crates/ros2-rmw/tests/cross_vendor.rs::{topic_mangling_matches_rmw_dds_common_convention, service_topic_pair_matches_cyclone_format, action_topic_set_matches_cyclone_format}; crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs::{graph_shows_participant_and_discovery_mode, doctor_multicast_free_with_peers_ok}.

Status: partial — Fast DDS and Cyclone DDS are measured; rmw_connextdds and the Iron build target are missing (own items).

§10.1 Cross-vendor with rmw_connextdds

Spec: §10 — cross-vendor with rmw_connextdds (RTI).

Repo: —

Tests: —

Status: open — not measured; the spec itself says “not measured (not installed in the test env)”. A run of run_qos_translation_test.sh and run_ros2_services_test.sh against rmw_connextdds is missing.

§10.2 Build target for the ROS distro Iron

Spec: §10 — a build target per distro: Humble, Iron, Jazzy, Rolling; §11 — package ros-iron-rmw-zerodds-cpp and image zerodds/ros2-iron:1.0.

Repo: —

Tests: —

Status: open — packaging/linux/deb/build-rmw-deb.sh knows humble jazzy kilted rolling and refuses any other name; ci/full.yml::ros-rmw-deb builds the same four. packaging/docker/ros2-shim/Dockerfile names the variant iron, whose package build the script refuses (not built, read from the script).

§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/deb/build-rmw-deb.sh (ros-<distro>-rmw-zerodds-cpp), ci/full.yml (ros-rmw-deb), packaging/linux/deb/assemble-debs.sh (zerodds-ros2), packaging/linux/rpm/zerodds.spec (%files ros2), packaging/macos/homebrew/zerodds-ros2.rb, packaging/windows/services/Install-Services.ps1, packaging/docker/ros2-shim/, packaging/linux/configs/ros2.yaml.example, man/man1/zerodds-ros2-shim.1, man/man5/zerodds-ros2.yaml.5.

Tests: tools/traceability/tests/deployment_layout.rs::the_ros2_diagnostics_cli_is_not_installed_as_a_service; crates/rmw-zerodds-shim/src/ros2_config.rs::tests::the_shipped_example_reads_as_it_says (the shipped example configuration through the real parser, with the values it states); tools/traceability/tests/bridge_config_manpages.rs::{every_example_key_is_documented_in_the_man_page, the_man_page_names_no_key_the_example_does_not_declare, the_pre_spec_vocabulary_is_gone_from_pages_and_examples, every_man_page_names_its_parser_and_what_an_unknown_key_does} (the manual page and the example file name the same keys); crates/rmw-zerodds-shim/tests/ros2_deb_package.rs::{the_package_is_named_after_the_distro_and_the_distro_is_checked, the_package_carries_the_library_the_index_entries_and_package_xml, the_ros2_image_installs_the_rmw_from_the_package, the_ros2_deb_description_points_at_the_rmw_package, the_endpoint_info_scripts_exit_non_zero_on_a_mismatch}, crates/rmw-zerodds-shim/tests/ros2_deb_ci_job.rs::{the_ci_job_builds_the_package_in_the_ros_image_and_checks_its_file_list, the_endpoint_info_checks_run_after_the_round_trip} (package name, install layout, file list out of the ament install, CI job and image — checkable without a ROS 2 installation); executor: ci/full.yml::ros-rmw-deb (weekly) runs as a matrix, once per distro (humble, jazzy, kilted, rolling) in that distro’s ROS 2 image, checks the .deb’s file list, installs it back into the ROS prefix with dpkg -i, and then exchanges std_msgs/String between two processes with packaging/linux/deb/rmw-pubsub-check.py; packaging/linux/deb/rmw-type-hash-check.py checks the type hash a peer process reads (against the package itself and both ways against rmw_fastrtps_cpp, not on Humble), and on Rolling packaging/linux/deb/rmw-service-info-check.py the servers and clients of a service.

Status: partial — librmw_zerodds_cpp.so is in the deb package ros-<distro>-rmw-zerodds-cpp (built from crates/rmw-zerodds-shim/ament), and the image installs it from that package; the diagnostics binary, configuration and manual pages ship. The weekly job ros-rmw-deb and the image build have not run. Missing: publication on the packages.ros.org mirror (§11.1) and package and image for Iron (§10.2).

§11.1 Publication on the packages.ros.org mirror

Spec: §11 — one .deb per ROS distro, ros-humble-rmw-zerodds-cpp, ros-iron-rmw-zerodds-cpp etc., on the packages.ros.org mirror.

Repo: —

Tests: —

Status: open — packaging/linux/deb/build-rmw-deb.sh builds the package; no job and no script uploads it to packages.ros.org.

§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: crates/ros2-rmw/src/topic_mangling.rs::tests (11 tests, among them mangle_each_kind_uses_correct_prefix, demangle_round_trips_all_kinds), crates/ros2-rmw/src/service.rs::tests (5), crates/ros2-rmw/src/action.rs::tests (6), crates/ros2-rmw/src/msg_to_idl.rs::tests (7), crates/ros2-rmw/src/json_log.rs::tests (5), crates/rmw-zerodds-shim/src/lib.rs::tests (24, among them rmw_codes_match_rep_2007, type_hash_sha256_is_deterministic, event_driven_wait_roundtrip_inprocess); crates/rmw-zerodds-shim/src/ros2_config.rs::tests (6).

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.

Status: done

§12.3 Multi-vendor cross_vendor.rs

Spec: §12.3 — topics via run_qos_translation_test.sh with RMW_PUB/RMW_SUB against rmw_cyclonedds_cpp and rmw_fastrtps_cpp both ways; services via run_ros2_services_test.sh; security via run_ros2_security_test.sh; cross_vendor.rs checks the wire conventions of rmw_cyclonedds_cpp without ROS.

Repo: crates/rmw-zerodds-shim/rmw_c/, crates/ros2-rmw/tests/cross_vendor.rs.

Tests: crates/rmw-zerodds-shim/rmw_c/run_qos_translation_test.sh (RMW_PUB/RMW_SUB), crates/rmw-zerodds-shim/rmw_c/run_ros2_services_test.sh, crates/rmw-zerodds-shim/rmw_c/run_ros2_security_test.sh; crates/ros2-rmw/tests/cross_vendor.rs::{topic_mangling_matches_rmw_dds_common_convention, service_topic_pair_matches_cyclone_format, action_topic_set_matches_cyclone_format}; the live cases in that file are #[ignore].

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) — reference list.

§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) — rule for assigning the version number of a release, not a property of the daemon.

Audit status

17 done / 2 partial / 5 open / 0 blocked / 3 n/a (informative).

Open items: zerodds-ros2-bridge-1.0.open.en.md.

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

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

Implementation:

crates/rmw-zerodds-shim/ · docs.rs — ROS-2-RMW-Shim (rmw_zerodds).

§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) — Zuordnung der Levels; die Anforderungen sind die Items §2 bis §12.

§2 CLI-Surface

§2 zerodds-ros2-shim Subcommands

Spec: §2 — Subcommands info/topics/qos/enclaves/validate/ selftest; Optionen --config/--set/--check-config/--domain/ --version/--help; abgelehnt mit Verweis: --runtime-config/--log-level/--enclave; 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.

Status: done

§3 Config-File-Format

§3 `ros2`-Sektion der Runtime-Konfiguration

Spec: §3 — ros2.topic_mangling/custom_mangling.topic_prefix, qos_profiles (REP-2009-Tabelle, feldweise ersetzbar), topic_overrides (qos_profile oder qos-Map), time_based_filter; Schlüssel, die rcl trägt, abgelehnt; ENV-Substitution.

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 — rq/<service>Request/rr/<service>Reply mit den Typen <pkg>::srv::dds_::<Srv>_Request_/_Response_; Korrelation in der Form des Gegenübers (Cyclone: guid/seq vor dem Body; Fast DDS: related_sample_identity, PID 0x800f); Graph (ros2 service list/type, ros2 node info).

Repo: crates/rmw-zerodds-shim/src/services.rs, crates/rmw-zerodds-shim/rmw_c/rmw_zerodds.c (Service-Aufrufe, Graph), crates/dcps/src/runtime.rs (write_user_sample_related, UserSample::Alive.related_sample_identity, participant_vendor), crates/rtps/src/inline_qos.rs (PID_EPROSIMA_RELATED_SAMPLE_IDENTITY).

Tests: crates/rmw-zerodds-shim/rmw_c/run_ros2_services_test.sh (Linux-Testhost, Humble, demo_nodes_py AddTwoInts 2 + 3: Server/Client zerodds↔︎zerodds, cyclonedds→zerodds, zerodds→cyclonedds, fastrtps→zerodds, zerodds→fastrtps je Result of add_two_ints: 5), crates/rmw-zerodds-shim/src/lib.rs::tests::{a_service_call_between_two_runtimes_correlates_by_the_related_identity, two_clients_in_one_runtime_each_get_their_own_reply}, crates/rmw-zerodds-shim/src/services.rs::tests::{the_cyclone_header_reads_in_both_byte_orders, user_data_keys_read_like_rmw_cyclonedds, a_full_table_drops_its_oldest_entry}, crates/dcps/src/runtime.rs::tests::the_related_identity_is_0x0083_or_eprosimas_0x800f_from_a_writer_that_means_it, crates/rtps/src/inline_qos.rs::tests::the_eprosima_pid_is_found_exactly_and_not_as_0x0083, crates/rmw-zerodds-shim/src/ros2_config.rs::tests::service_topics_are_the_rq_rr_names_of_the_other_rmws.

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).

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.

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/ros2_config.rs (Mangling::None, dds_topic, dds_service_topics).

Tests: crates/rmw-zerodds-shim/src/ros2_config.rs::tests::{mangling_none_and_custom_name_the_dds_topic, service_topics_are_the_rq_rr_names_of_the_other_rmws}, crates/rmw-zerodds-shim/rmw_c/run_ros2_config_test.sh (5b: Cyclone liest den Topic ohne Präfix aus SEDP, Linux-Testhost).

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).

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).

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: —

Tests: —

Status: open — zerodds-ros2-shim metrics druckt den Namens-Katalog, aber kein Test in crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs ruft ihn auf, und kein Zähler wird im rmw-Pfad hochgezählt. ### §8.3 OTLP rmw_publish/rmw_take Spans

Spec: §8.3 — OTEL_EXPORTER_OTLP_ENDPOINT aktiviert Span-Emission.

Repo: —

Tests: —

Status: open — weder crates/rmw-zerodds-shim/ noch crates/ros2-rmw/ nennt OTEL_EXPORTER_OTLP_ENDPOINT oder emittiert einen Span. ## §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; Cross-Vendor mit rmw_fastrtps_cpp, rmw_cyclonedds_cpp und rmw_connextdds; ROS-Distros Humble, Iron, Jazzy, Rolling mit je eigenem Build-Ziel.

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

Tests: crates/rmw-zerodds-shim/rmw_c/run_qos_translation_test.sh (Linux-Testhost, Humble, mit RMW_PUB/RMW_SUB: Topics in beide Richtungen mit rmw_cyclonedds_cpp und rmw_fastrtps_cpp), crates/rmw-zerodds-shim/rmw_c/run_ros2_services_test.sh (Services in beide Richtungen mit denselben Partnern); crates/ros2-rmw/tests/cross_vendor.rs::{topic_mangling_matches_rmw_dds_common_convention, service_topic_pair_matches_cyclone_format, action_topic_set_matches_cyclone_format}; crates/rmw-zerodds-shim/tests/shim_cli_e2e.rs::{graph_shows_participant_and_discovery_mode, doctor_multicast_free_with_peers_ok}.

Status: partial — Fast DDS und Cyclone DDS sind gemessen; rmw_connextdds und das Build-Ziel Iron fehlen (eigene Items).

§10.1 Cross-Vendor mit rmw_connextdds

Spec: §10 — Cross-Vendor mit rmw_connextdds (RTI).

Repo: —

Tests: —

Status: open — nicht gemessen; die Spec selbst nennt es „not measured (not installed in the test env)“. Es fehlt ein Lauf von run_qos_translation_test.sh und run_ros2_services_test.sh gegen rmw_connextdds.

§10.2 Build-Ziel ROS-Distro Iron

Spec: §10 — eigenes Build-Ziel pro Distro: Humble, Iron, Jazzy, Rolling; §11 — Paket ros-iron-rmw-zerodds-cpp und Image zerodds/ros2-iron:1.0.

Repo: —

Tests: —

Status: open — packaging/linux/deb/build-rmw-deb.sh kennt humble jazzy kilted rolling und lehnt jeden anderen Namen ab; ci/full.yml::ros-rmw-deb baut dieselben vier. packaging/docker/ros2-shim/Dockerfile nennt die Variante iron, deren Paketbau das Skript ablehnt (nicht gebaut, aus dem Skript gelesen).

§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.

Tests: tools/traceability/tests/deployment_layout.rs::the_ros2_diagnostics_cli_is_not_installed_as_a_service; crates/rmw-zerodds-shim/src/ros2_config.rs::tests::the_shipped_example_reads_as_it_says (die ausgelieferte Beispiel-Konfiguration durch den echten Parser, mit den Werten, die sie nennt); tools/traceability/tests/bridge_config_manpages.rs::{every_example_key_is_documented_in_the_man_page, the_man_page_names_no_key_the_example_does_not_declare, the_pre_spec_vocabulary_is_gone_from_pages_and_examples, every_man_page_names_its_parser_and_what_an_unknown_key_does} (die Handbuchseite und die Beispieldatei nennen dieselben Schlüssel); crates/rmw-zerodds-shim/tests/ros2_deb_package.rs::{the_package_is_named_after_the_distro_and_the_distro_is_checked, the_package_carries_the_library_the_index_entries_and_package_xml, the_ros2_image_installs_the_rmw_from_the_package, the_ros2_deb_description_points_at_the_rmw_package, the_endpoint_info_scripts_exit_non_zero_on_a_mismatch}, crates/rmw-zerodds-shim/tests/ros2_deb_ci_job.rs::{the_ci_job_builds_the_package_in_the_ros_image_and_checks_its_file_list, the_endpoint_info_checks_run_after_the_round_trip} (Paketname, Installationspfad, Dateiliste aus dem ament-Install, CI-Job und Image, ohne ROS-2-Installation prüfbar); Ausführer: ci/full.yml::ros-rmw-deb (weekly) läuft als Matrix einmal pro Distro (humble, jazzy, kilted, rolling) im jeweiligen ROS-2-Image, prüft die Dateiliste des .deb, installiert es mit dpkg -i zurück in den ROS-Präfix und tauscht dann mit packaging/linux/deb/rmw-pubsub-check.py std_msgs/String zwischen zwei Prozessen aus; packaging/linux/deb/rmw-type-hash-check.py prüft den Typ-Hash, den ein zweiter Prozess liest (gegen das Paket selbst und in beiden Richtungen gegen rmw_fastrtps_cpp, nicht auf Humble), und auf Rolling packaging/linux/deb/rmw-service-info-check.py Server und Clients eines Service.

Status: partial — librmw_zerodds_cpp.so liegt im deb-Paket ros-<distro>-rmw-zerodds-cpp (gebaut aus crates/rmw-zerodds-shim/ament), das Image installiert es aus diesem Paket; Diagnose-Binary, Konfiguration und Handbuchseiten sind ausgeliefert. Der wöchentliche Job ros-rmw-deb und der Image-Bau sind nicht gelaufen. Es fehlen die Veröffentlichung auf dem packages.ros.org-Spiegel (§11.1) und Paket und Image für Iron (§10.2).

§11.1 Veröffentlichung auf dem packages.ros.org-Spiegel

Spec: §11 — ein .deb pro ROS-Distro, ros-humble-rmw-zerodds-cpp, ros-iron-rmw-zerodds-cpp usw., auf dem packages.ros.org-Spiegel.

Repo: —

Tests: —

Status: open — packaging/linux/deb/build-rmw-deb.sh baut das Paket; kein Job und kein Skript lädt es auf packages.ros.org hoch.

§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: crates/ros2-rmw/src/topic_mangling.rs::tests (11 Tests, darunter mangle_each_kind_uses_correct_prefix, demangle_round_trips_all_kinds), crates/ros2-rmw/src/service.rs::tests (5), crates/ros2-rmw/src/action.rs::tests (6), crates/ros2-rmw/src/msg_to_idl.rs::tests (7), crates/ros2-rmw/src/json_log.rs::tests (5), crates/rmw-zerodds-shim/src/lib.rs::tests (24, darunter rmw_codes_match_rep_2007, type_hash_sha256_is_deterministic, event_driven_wait_roundtrip_inprocess); crates/rmw-zerodds-shim/src/ros2_config.rs::tests (6).

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.

Status: done

§12.3 Multi-Vendor cross_vendor.rs

Spec: §12.3 — Topics über run_qos_translation_test.sh mit RMW_PUB/RMW_SUB gegen rmw_cyclonedds_cpp und rmw_fastrtps_cpp in beide Richtungen; Services über run_ros2_services_test.sh; Security über run_ros2_security_test.sh; cross_vendor.rs prüft die Wire-Konventionen von rmw_cyclonedds_cpp ohne ROS.

Repo: crates/rmw-zerodds-shim/rmw_c/, crates/ros2-rmw/tests/cross_vendor.rs.

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) — Verweisliste.

§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) — Regel für die Vergabe der Versionsnummer eines Release, keine Eigenschaft des Daemons.

Audit-Status

17 done / 2 partial / 5 open / 0 blocked / 3 n/a (informative).

Offene Punkte: zerodds-ros2-bridge-1.0.open.md.

zerodds-ros2-bridge v1.0 — Spec Coverage

§1 Conformance levels

§1 L1-L6 conformance matrix

§2 CLI surface

§2 zerodds-ros2-shim subcommands

§3 Config-file format

§3 The ros2 section of the runtime configuration

§4 Wire protocol

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

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

§4.2 Service pattern request-reply

§4.3 Action pattern (5 topics)

§5 Topic mapping

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

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

§5.3 Bridge mode none

§6 QoS translation

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

§7 Security

§7.1 SROS2 enclaves → DDS-Security 1.2

§7.2 ACL via permissions XML

§8 Operations + observability

§8.1 rcutils logging + JSON

§8.2 Prometheus metrics via a separate exporter

§9 RMW-API lifecycle (rcl-driven)

§10 Cross-vendor

§10 RTPS peer + FastRTPS/CycloneDDS/Connext

§10.1 Cross-vendor with rmw_connextdds

§10.2 Build target for the ROS distro Iron

§11 Packaging

§11 librmw_zerodds_cpp.so + diagnostics binary

§11.1 Publication on the packages.ros.org mirror

§12 Testing

§12.1 Unit tests per module

§12.2 Integration tests bridge_e2e

§12.3 Multi-vendor cross_vendor.rs

§13 Cross-references

§13 Related library + REPs + DDS-Security

§14 Versioning

§14 SemVer bump rules

Audit status

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

§1 Conformance-Levels

§1 L1-L6 Conformance-Matrix

§2 CLI-Surface

§2 zerodds-ros2-shim Subcommands

§3 Config-File-Format

§3 ros2-Sektion der Runtime-Konfiguration

§4 Wire-Protocol

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

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

§4.2 Service-Pattern Request-Reply

§4.3 Action-Pattern (5 Topics)

§5 Topic-Mapping

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

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

§5.3 Bridge-Mode none

§6 QoS-Translation

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

§7 Security

§7.1 SROS2-Enclaves → DDS-Security 1.2

§7.2 ACL via Permissions-XML

§8 Operations + Observability

§8.1 rcutils-Logging + JSON

§8.2 Prometheus-Metrics via separater Exporter

§9 RMW-API-Lifecycle (rcl-driven)

§10 Cross-Vendor

§10 RTPS-Peer + FastRTPS/CycloneDDS/Connext

§10.1 Cross-Vendor mit rmw_connextdds

§10.2 Build-Ziel ROS-Distro Iron

§11 Packaging

§11 librmw_zerodds_cpp.so + Diagnose-Binary

§11.1 Veröffentlichung auf dem packages.ros.org-Spiegel

§12 Testing

§12.1 Unit-Tests pro Modul

§12.2 Integration-Tests bridge_e2e

§12.3 Multi-Vendor cross_vendor.rs

§13 Cross-References

§13 Verwandte Library + REPs + DDS-Security

§14 Versioning

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

§3 The `ros2` section of the runtime configuration

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

§3 `ros2`-Sektion der Runtime-Konfiguration