nodl repository

ament_nodl nodl_tutorial_basics nodl_tutorial_dummy_robot nodl nodl_common_interfaces nodl_docgen nodl_generator_common nodl_generator_cpp nodl_generator_py nodl_observe nodl_runtime_py nodl_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
ament_nodl	2.0.3
nodl_tutorial_basics	2.0.3
nodl_tutorial_dummy_robot	2.0.3
nodl	2.0.3
nodl_common_interfaces	2.0.3
nodl_docgen	2.0.3
nodl_generator_common	2.0.3
nodl_generator_cpp	2.0.3
nodl_generator_py	2.0.3
nodl_observe	2.0.3
nodl_runtime_py	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	2.0.3
test_nodl_generators_downstream	2.0.3

README

NoDL - Node Definition Language

NoDL logo

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).

Find complete documentation at https://nodl.readthedocs.io/en/latest/

Repository structure

NoDL is split into packages for the schema, code generators, documentation generation, and ROS 2 integration. The nodl metapackage pulls in the common ones, so most users only need to depend on it. The package list in the documentation describes each package.

The NoDL schema, key to this whole thing, is nodl.schema.yaml.

Outside the packages:

design/: Design documents for NoDL features
examples/: Example packages that the tutorials build on
nodl/doc/: Documentation source for the ReadTheDocs page
test_ament_nodl/, test_nodl_generators/ and test_nodl_generators_downstream/: Integration tests for the CMake macros and the code generators
tools/: Scripts supporting development and build workflows

Developing

See RELEASING.md for versioning and tag releases.

Setup

Clone the repo and install pre-commit hooks:

pre-commit install
pre-commit install --hook-type prepare-commit-msg

The prepare-commit-msg hook will automatically add the Signed-off-by line to your commits. If you prefer to sign off manually, use git commit -s.

Pip dependencies for full test suite

The packages in this repository use a few package only available from pip as test_depends.

For the buildfarm environment, these dependencies and tests are disabled, because a package may not be packaged into a deb/rpm against dependencies from another package manager (pip).

To install all dependencies and run the full test suite, export environment variable ENABLE_PIP_TEST_DEPENDS=1 - which the GitHub Action CI for this repo does.

ROS Distribution Status

Distro	Dev	Doc	Ubuntu Bin
Humble
Jazzy
Lyrical
Rolling

Unsupported Distributions

These ROS distributions will receive no future release updates or code compatibility support.

Distro	Date Support Ended	Reason
Kilted Kaiju	October 5, 2026	Distro EOL in November

CONTRIBUTING

nodl repository

ament_nodl nodl_tutorial_basics nodl_tutorial_dummy_robot nodl nodl_common_interfaces nodl_docgen nodl_generator_common nodl_generator_cpp nodl_generator_py nodl_observe nodl_runtime_py nodl_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
ament_nodl	2.0.3
nodl_tutorial_basics	2.0.3
nodl_tutorial_dummy_robot	2.0.3
nodl	2.0.3
nodl_common_interfaces	2.0.3
nodl_docgen	2.0.3
nodl_generator_common	2.0.3
nodl_generator_cpp	2.0.3
nodl_generator_py	2.0.3
nodl_observe	2.0.3
nodl_runtime_py	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	2.0.3
test_nodl_generators_downstream	2.0.3

README

NoDL - Node Definition Language

NoDL logo

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).

Find complete documentation at https://nodl.readthedocs.io/en/latest/

Repository structure

NoDL is split into packages for the schema, code generators, documentation generation, and ROS 2 integration. The nodl metapackage pulls in the common ones, so most users only need to depend on it. The package list in the documentation describes each package.

The NoDL schema, key to this whole thing, is nodl.schema.yaml.

Outside the packages:

design/: Design documents for NoDL features
examples/: Example packages that the tutorials build on
nodl/doc/: Documentation source for the ReadTheDocs page
test_ament_nodl/, test_nodl_generators/ and test_nodl_generators_downstream/: Integration tests for the CMake macros and the code generators
tools/: Scripts supporting development and build workflows

Developing

See RELEASING.md for versioning and tag releases.

Setup

Clone the repo and install pre-commit hooks:

pre-commit install
pre-commit install --hook-type prepare-commit-msg

The prepare-commit-msg hook will automatically add the Signed-off-by line to your commits. If you prefer to sign off manually, use git commit -s.

Pip dependencies for full test suite

The packages in this repository use a few package only available from pip as test_depends.

For the buildfarm environment, these dependencies and tests are disabled, because a package may not be packaged into a deb/rpm against dependencies from another package manager (pip).

To install all dependencies and run the full test suite, export environment variable ENABLE_PIP_TEST_DEPENDS=1 - which the GitHub Action CI for this repo does.

ROS Distribution Status

Distro	Dev	Doc	Ubuntu Bin
Humble
Jazzy
Lyrical
Rolling

Unsupported Distributions

These ROS distributions will receive no future release updates or code compatibility support.

Distro	Date Support Ended	Reason
Kilted Kaiju	October 5, 2026	Distro EOL in November

CONTRIBUTING

nodl repository

ament_nodl nodl_tutorial_basics nodl_tutorial_dummy_robot nodl nodl_common_interfaces nodl_docgen nodl_generator_common nodl_generator_cpp nodl_generator_py nodl_observe nodl_runtime_py nodl_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
kilted

Repository Summary

Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
ament_nodl	2.0.3
nodl_tutorial_basics	2.0.3
nodl_tutorial_dummy_robot	2.0.3
nodl	2.0.3
nodl_common_interfaces	2.0.3
nodl_docgen	2.0.3
nodl_generator_common	2.0.3
nodl_generator_cpp	2.0.3
nodl_generator_py	2.0.3
nodl_observe	2.0.3
nodl_runtime_py	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	2.0.3
test_nodl_generators_downstream	2.0.3

README

NoDL - Node Definition Language

NoDL logo

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).

Find complete documentation at https://nodl.readthedocs.io/en/latest/

Repository structure

NoDL is split into packages for the schema, code generators, documentation generation, and ROS 2 integration. The nodl metapackage pulls in the common ones, so most users only need to depend on it. The package list in the documentation describes each package.

The NoDL schema, key to this whole thing, is nodl.schema.yaml.

Outside the packages:

design/: Design documents for NoDL features
examples/: Example packages that the tutorials build on
nodl/doc/: Documentation source for the ReadTheDocs page
test_ament_nodl/, test_nodl_generators/ and test_nodl_generators_downstream/: Integration tests for the CMake macros and the code generators
tools/: Scripts supporting development and build workflows

Developing

See RELEASING.md for versioning and tag releases.

Setup

Clone the repo and install pre-commit hooks:

pre-commit install
pre-commit install --hook-type prepare-commit-msg

The prepare-commit-msg hook will automatically add the Signed-off-by line to your commits. If you prefer to sign off manually, use git commit -s.

Pip dependencies for full test suite

The packages in this repository use a few package only available from pip as test_depends.

For the buildfarm environment, these dependencies and tests are disabled, because a package may not be packaged into a deb/rpm against dependencies from another package manager (pip).

To install all dependencies and run the full test suite, export environment variable ENABLE_PIP_TEST_DEPENDS=1 - which the GitHub Action CI for this repo does.

ROS Distribution Status

Distro	Dev	Doc	Ubuntu Bin
Humble
Jazzy
Lyrical
Rolling

Unsupported Distributions

These ROS distributions will receive no future release updates or code compatibility support.

Distro	Date Support Ended	Reason
Kilted Kaiju	October 5, 2026	Distro EOL in November

CONTRIBUTING

nodl repository

ament_nodl nodl_tutorial_basics nodl_tutorial_dummy_robot nodl nodl_common_interfaces nodl_docgen nodl_generator_common nodl_generator_cpp nodl_generator_py nodl_observe nodl_runtime_py nodl_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
lyrical

Repository Summary

Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
ament_nodl	2.0.3
nodl_tutorial_basics	2.0.3
nodl_tutorial_dummy_robot	2.0.3
nodl	2.0.3
nodl_common_interfaces	2.0.3
nodl_docgen	2.0.3
nodl_generator_common	2.0.3
nodl_generator_cpp	2.0.3
nodl_generator_py	2.0.3
nodl_observe	2.0.3
nodl_runtime_py	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	2.0.3
test_nodl_generators_downstream	2.0.3

README

NoDL - Node Definition Language

NoDL logo

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).

Find complete documentation at https://nodl.readthedocs.io/en/latest/

Repository structure

NoDL is split into packages for the schema, code generators, documentation generation, and ROS 2 integration. The nodl metapackage pulls in the common ones, so most users only need to depend on it. The package list in the documentation describes each package.

The NoDL schema, key to this whole thing, is nodl.schema.yaml.

Outside the packages:

design/: Design documents for NoDL features
examples/: Example packages that the tutorials build on
nodl/doc/: Documentation source for the ReadTheDocs page
test_ament_nodl/, test_nodl_generators/ and test_nodl_generators_downstream/: Integration tests for the CMake macros and the code generators
tools/: Scripts supporting development and build workflows

Developing

See RELEASING.md for versioning and tag releases.

Setup

Clone the repo and install pre-commit hooks:

pre-commit install
pre-commit install --hook-type prepare-commit-msg

The prepare-commit-msg hook will automatically add the Signed-off-by line to your commits. If you prefer to sign off manually, use git commit -s.

Pip dependencies for full test suite

The packages in this repository use a few package only available from pip as test_depends.

For the buildfarm environment, these dependencies and tests are disabled, because a package may not be packaged into a deb/rpm against dependencies from another package manager (pip).

To install all dependencies and run the full test suite, export environment variable ENABLE_PIP_TEST_DEPENDS=1 - which the GitHub Action CI for this repo does.

ROS Distribution Status

Distro	Dev	Doc	Ubuntu Bin
Humble
Jazzy
Lyrical
Rolling

Unsupported Distributions

These ROS distributions will receive no future release updates or code compatibility support.

Distro	Date Support Ended	Reason
Kilted Kaiju	October 5, 2026	Distro EOL in November

CONTRIBUTING

nodl repository

ament_nodl nodl_tutorial_basics nodl_tutorial_dummy_robot nodl nodl_common_interfaces nodl_docgen nodl_generator_common nodl_generator_cpp nodl_generator_py nodl_observe nodl_runtime_py nodl_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
rolling

Repository Summary

Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
ament_nodl	2.0.3
nodl_tutorial_basics	2.0.3
nodl_tutorial_dummy_robot	2.0.3
nodl	2.0.3
nodl_common_interfaces	2.0.3
nodl_docgen	2.0.3
nodl_generator_common	2.0.3
nodl_generator_cpp	2.0.3
nodl_generator_py	2.0.3
nodl_observe	2.0.3
nodl_runtime_py	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	2.0.3
test_nodl_generators_downstream	2.0.3

README

NoDL - Node Definition Language

NoDL logo

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).

Find complete documentation at https://nodl.readthedocs.io/en/latest/

Repository structure

NoDL is split into packages for the schema, code generators, documentation generation, and ROS 2 integration. The nodl metapackage pulls in the common ones, so most users only need to depend on it. The package list in the documentation describes each package.

The NoDL schema, key to this whole thing, is nodl.schema.yaml.

Outside the packages:

design/: Design documents for NoDL features
examples/: Example packages that the tutorials build on
nodl/doc/: Documentation source for the ReadTheDocs page
test_ament_nodl/, test_nodl_generators/ and test_nodl_generators_downstream/: Integration tests for the CMake macros and the code generators
tools/: Scripts supporting development and build workflows

Developing

See RELEASING.md for versioning and tag releases.

Setup

Clone the repo and install pre-commit hooks:

pre-commit install
pre-commit install --hook-type prepare-commit-msg

The prepare-commit-msg hook will automatically add the Signed-off-by line to your commits. If you prefer to sign off manually, use git commit -s.

Pip dependencies for full test suite

The packages in this repository use a few package only available from pip as test_depends.

For the buildfarm environment, these dependencies and tests are disabled, because a package may not be packaged into a deb/rpm against dependencies from another package manager (pip).

To install all dependencies and run the full test suite, export environment variable ENABLE_PIP_TEST_DEPENDS=1 - which the GitHub Action CI for this repo does.

ROS Distribution Status

Distro	Dev	Doc	Ubuntu Bin
Humble
Jazzy
Lyrical
Rolling

Unsupported Distributions

These ROS distributions will receive no future release updates or code compatibility support.

Distro	Date Support Ended	Reason
Kilted Kaiju	October 5, 2026	Distro EOL in November

CONTRIBUTING

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

nodl repository

ament_nodl nodl_tutorial_basics nodl_tutorial_dummy_robot nodl nodl_common_interfaces nodl_docgen nodl_generator_common nodl_generator_cpp nodl_generator_py nodl_observe nodl_runtime_py nodl_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
ament_nodl	2.0.3
nodl_tutorial_basics	2.0.3
nodl_tutorial_dummy_robot	2.0.3
nodl	2.0.3
nodl_common_interfaces	2.0.3
nodl_docgen	2.0.3
nodl_generator_common	2.0.3
nodl_generator_cpp	2.0.3
nodl_generator_py	2.0.3
nodl_observe	2.0.3
nodl_runtime_py	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	2.0.3
test_nodl_generators_downstream	2.0.3

README

NoDL - Node Definition Language

NoDL logo

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).

Find complete documentation at https://nodl.readthedocs.io/en/latest/

Repository structure

NoDL is split into packages for the schema, code generators, documentation generation, and ROS 2 integration. The nodl metapackage pulls in the common ones, so most users only need to depend on it. The package list in the documentation describes each package.

The NoDL schema, key to this whole thing, is nodl.schema.yaml.

Outside the packages:

design/: Design documents for NoDL features
examples/: Example packages that the tutorials build on
nodl/doc/: Documentation source for the ReadTheDocs page
test_ament_nodl/, test_nodl_generators/ and test_nodl_generators_downstream/: Integration tests for the CMake macros and the code generators
tools/: Scripts supporting development and build workflows

Developing

See RELEASING.md for versioning and tag releases.

Setup

Clone the repo and install pre-commit hooks:

pre-commit install
pre-commit install --hook-type prepare-commit-msg

The prepare-commit-msg hook will automatically add the Signed-off-by line to your commits. If you prefer to sign off manually, use git commit -s.

Pip dependencies for full test suite

The packages in this repository use a few package only available from pip as test_depends.

For the buildfarm environment, these dependencies and tests are disabled, because a package may not be packaged into a deb/rpm against dependencies from another package manager (pip).

To install all dependencies and run the full test suite, export environment variable ENABLE_PIP_TEST_DEPENDS=1 - which the GitHub Action CI for this repo does.

ROS Distribution Status

Distro	Dev	Doc	Ubuntu Bin
Humble
Jazzy
Lyrical
Rolling

Unsupported Distributions

These ROS distributions will receive no future release updates or code compatibility support.

Distro	Date Support Ended	Reason
Kilted Kaiju	October 5, 2026	Distro EOL in November

CONTRIBUTING

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

nodl repository

ament_nodl nodl_tutorial_basics nodl_tutorial_dummy_robot nodl nodl_common_interfaces nodl_docgen nodl_generator_common nodl_generator_cpp nodl_generator_py nodl_observe nodl_runtime_py nodl_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
ament_nodl	2.0.3
nodl_tutorial_basics	2.0.3
nodl_tutorial_dummy_robot	2.0.3
nodl	2.0.3
nodl_common_interfaces	2.0.3
nodl_docgen	2.0.3
nodl_generator_common	2.0.3
nodl_generator_cpp	2.0.3
nodl_generator_py	2.0.3
nodl_observe	2.0.3
nodl_runtime_py	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	2.0.3
test_nodl_generators_downstream	2.0.3

README

NoDL - Node Definition Language

NoDL logo

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).

Find complete documentation at https://nodl.readthedocs.io/en/latest/

Repository structure

NoDL is split into packages for the schema, code generators, documentation generation, and ROS 2 integration. The nodl metapackage pulls in the common ones, so most users only need to depend on it. The package list in the documentation describes each package.

The NoDL schema, key to this whole thing, is nodl.schema.yaml.

Outside the packages:

design/: Design documents for NoDL features
examples/: Example packages that the tutorials build on
nodl/doc/: Documentation source for the ReadTheDocs page
test_ament_nodl/, test_nodl_generators/ and test_nodl_generators_downstream/: Integration tests for the CMake macros and the code generators
tools/: Scripts supporting development and build workflows

Developing

See RELEASING.md for versioning and tag releases.

Setup

Clone the repo and install pre-commit hooks:

pre-commit install
pre-commit install --hook-type prepare-commit-msg

The prepare-commit-msg hook will automatically add the Signed-off-by line to your commits. If you prefer to sign off manually, use git commit -s.

Pip dependencies for full test suite

The packages in this repository use a few package only available from pip as test_depends.

For the buildfarm environment, these dependencies and tests are disabled, because a package may not be packaged into a deb/rpm against dependencies from another package manager (pip).

To install all dependencies and run the full test suite, export environment variable ENABLE_PIP_TEST_DEPENDS=1 - which the GitHub Action CI for this repo does.

ROS Distribution Status

Distro	Dev	Doc	Ubuntu Bin
Humble
Jazzy
Lyrical
Rolling

Unsupported Distributions

These ROS distributions will receive no future release updates or code compatibility support.

Distro	Date Support Ended	Reason
Kilted Kaiju	October 5, 2026	Distro EOL in November

CONTRIBUTING

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

nodl repository

ament_nodl nodl_tutorial_basics nodl_tutorial_dummy_robot nodl nodl_common_interfaces nodl_docgen nodl_generator_common nodl_generator_cpp nodl_generator_py nodl_observe nodl_runtime_py nodl_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
ament_nodl	2.0.3
nodl_tutorial_basics	2.0.3
nodl_tutorial_dummy_robot	2.0.3
nodl	2.0.3
nodl_common_interfaces	2.0.3
nodl_docgen	2.0.3
nodl_generator_common	2.0.3
nodl_generator_cpp	2.0.3
nodl_generator_py	2.0.3
nodl_observe	2.0.3
nodl_runtime_py	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	2.0.3
test_nodl_generators_downstream	2.0.3

README

NoDL - Node Definition Language

NoDL logo

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).

Find complete documentation at https://nodl.readthedocs.io/en/latest/

Repository structure

NoDL is split into packages for the schema, code generators, documentation generation, and ROS 2 integration. The nodl metapackage pulls in the common ones, so most users only need to depend on it. The package list in the documentation describes each package.

The NoDL schema, key to this whole thing, is nodl.schema.yaml.

Outside the packages:

design/: Design documents for NoDL features
examples/: Example packages that the tutorials build on
nodl/doc/: Documentation source for the ReadTheDocs page
test_ament_nodl/, test_nodl_generators/ and test_nodl_generators_downstream/: Integration tests for the CMake macros and the code generators
tools/: Scripts supporting development and build workflows

Developing

See RELEASING.md for versioning and tag releases.

Setup

Clone the repo and install pre-commit hooks:

pre-commit install
pre-commit install --hook-type prepare-commit-msg

The prepare-commit-msg hook will automatically add the Signed-off-by line to your commits. If you prefer to sign off manually, use git commit -s.

Pip dependencies for full test suite

The packages in this repository use a few package only available from pip as test_depends.

For the buildfarm environment, these dependencies and tests are disabled, because a package may not be packaged into a deb/rpm against dependencies from another package manager (pip).

To install all dependencies and run the full test suite, export environment variable ENABLE_PIP_TEST_DEPENDS=1 - which the GitHub Action CI for this repo does.

ROS Distribution Status

Distro	Dev	Doc	Ubuntu Bin
Humble
Jazzy
Lyrical
Rolling

Unsupported Distributions

These ROS distributions will receive no future release updates or code compatibility support.

Distro	Date Support Ended	Reason
Kilted Kaiju	October 5, 2026	Distro EOL in November

CONTRIBUTING

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

nodl repository

ament_nodl nodl_tutorial_basics nodl_tutorial_dummy_robot nodl nodl_common_interfaces nodl_docgen nodl_generator_common nodl_generator_cpp nodl_generator_py nodl_observe nodl_runtime_py nodl_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
ament_nodl	2.0.3
nodl_tutorial_basics	2.0.3
nodl_tutorial_dummy_robot	2.0.3
nodl	2.0.3
nodl_common_interfaces	2.0.3
nodl_docgen	2.0.3
nodl_generator_common	2.0.3
nodl_generator_cpp	2.0.3
nodl_generator_py	2.0.3
nodl_observe	2.0.3
nodl_runtime_py	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	2.0.3
test_nodl_generators_downstream	2.0.3

README

NoDL - Node Definition Language

NoDL logo

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).

Find complete documentation at https://nodl.readthedocs.io/en/latest/

Repository structure

NoDL is split into packages for the schema, code generators, documentation generation, and ROS 2 integration. The nodl metapackage pulls in the common ones, so most users only need to depend on it. The package list in the documentation describes each package.

The NoDL schema, key to this whole thing, is nodl.schema.yaml.

Outside the packages:

design/: Design documents for NoDL features
examples/: Example packages that the tutorials build on
nodl/doc/: Documentation source for the ReadTheDocs page
test_ament_nodl/, test_nodl_generators/ and test_nodl_generators_downstream/: Integration tests for the CMake macros and the code generators
tools/: Scripts supporting development and build workflows

Developing

See RELEASING.md for versioning and tag releases.

Setup

Clone the repo and install pre-commit hooks:

pre-commit install
pre-commit install --hook-type prepare-commit-msg

The prepare-commit-msg hook will automatically add the Signed-off-by line to your commits. If you prefer to sign off manually, use git commit -s.

Pip dependencies for full test suite

The packages in this repository use a few package only available from pip as test_depends.

For the buildfarm environment, these dependencies and tests are disabled, because a package may not be packaged into a deb/rpm against dependencies from another package manager (pip).

To install all dependencies and run the full test suite, export environment variable ENABLE_PIP_TEST_DEPENDS=1 - which the GitHub Action CI for this repo does.

ROS Distribution Status

Distro	Dev	Doc	Ubuntu Bin
Humble
Jazzy
Lyrical
Rolling

Unsupported Distributions

These ROS distributions will receive no future release updates or code compatibility support.

Distro	Date Support Ended	Reason
Kilted Kaiju	October 5, 2026	Distro EOL in November

CONTRIBUTING

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

nodl repository

ament_nodl nodl_tutorial_basics nodl_tutorial_dummy_robot nodl nodl_common_interfaces nodl_docgen nodl_generator_common nodl_generator_cpp nodl_generator_py nodl_observe nodl_runtime_py nodl_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
ament_nodl	2.0.3
nodl_tutorial_basics	2.0.3
nodl_tutorial_dummy_robot	2.0.3
nodl	2.0.3
nodl_common_interfaces	2.0.3
nodl_docgen	2.0.3
nodl_generator_common	2.0.3
nodl_generator_cpp	2.0.3
nodl_generator_py	2.0.3
nodl_observe	2.0.3
nodl_runtime_py	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	2.0.3
test_nodl_generators_downstream	2.0.3

README

NoDL - Node Definition Language

NoDL logo

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).

Find complete documentation at https://nodl.readthedocs.io/en/latest/

Repository structure

NoDL is split into packages for the schema, code generators, documentation generation, and ROS 2 integration. The nodl metapackage pulls in the common ones, so most users only need to depend on it. The package list in the documentation describes each package.

The NoDL schema, key to this whole thing, is nodl.schema.yaml.

Outside the packages:

design/: Design documents for NoDL features
examples/: Example packages that the tutorials build on
nodl/doc/: Documentation source for the ReadTheDocs page
test_ament_nodl/, test_nodl_generators/ and test_nodl_generators_downstream/: Integration tests for the CMake macros and the code generators
tools/: Scripts supporting development and build workflows

Developing

See RELEASING.md for versioning and tag releases.

Setup

Clone the repo and install pre-commit hooks:

pre-commit install
pre-commit install --hook-type prepare-commit-msg

The prepare-commit-msg hook will automatically add the Signed-off-by line to your commits. If you prefer to sign off manually, use git commit -s.

Pip dependencies for full test suite

The packages in this repository use a few package only available from pip as test_depends.

For the buildfarm environment, these dependencies and tests are disabled, because a package may not be packaged into a deb/rpm against dependencies from another package manager (pip).

To install all dependencies and run the full test suite, export environment variable ENABLE_PIP_TEST_DEPENDS=1 - which the GitHub Action CI for this repo does.

ROS Distribution Status

Distro	Dev	Doc	Ubuntu Bin
Humble
Jazzy
Lyrical
Rolling

Unsupported Distributions

These ROS distributions will receive no future release updates or code compatibility support.

Distro	Date Support Ended	Reason
Kilted Kaiju	October 5, 2026	Distro EOL in November

CONTRIBUTING

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

nodl repository

ament_nodl nodl_tutorial_basics nodl_tutorial_dummy_robot nodl nodl_common_interfaces nodl_docgen nodl_generator_common nodl_generator_cpp nodl_generator_py nodl_observe nodl_runtime_py nodl_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
ament_nodl	2.0.3
nodl_tutorial_basics	2.0.3
nodl_tutorial_dummy_robot	2.0.3
nodl	2.0.3
nodl_common_interfaces	2.0.3
nodl_docgen	2.0.3
nodl_generator_common	2.0.3
nodl_generator_cpp	2.0.3
nodl_generator_py	2.0.3
nodl_observe	2.0.3
nodl_runtime_py	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	2.0.3
test_nodl_generators_downstream	2.0.3

README

NoDL - Node Definition Language

NoDL logo

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).

Find complete documentation at https://nodl.readthedocs.io/en/latest/

Repository structure

NoDL is split into packages for the schema, code generators, documentation generation, and ROS 2 integration. The nodl metapackage pulls in the common ones, so most users only need to depend on it. The package list in the documentation describes each package.

The NoDL schema, key to this whole thing, is nodl.schema.yaml.

Outside the packages:

design/: Design documents for NoDL features
examples/: Example packages that the tutorials build on
nodl/doc/: Documentation source for the ReadTheDocs page
test_ament_nodl/, test_nodl_generators/ and test_nodl_generators_downstream/: Integration tests for the CMake macros and the code generators
tools/: Scripts supporting development and build workflows

Developing

See RELEASING.md for versioning and tag releases.

Setup

Clone the repo and install pre-commit hooks:

pre-commit install
pre-commit install --hook-type prepare-commit-msg

The prepare-commit-msg hook will automatically add the Signed-off-by line to your commits. If you prefer to sign off manually, use git commit -s.

Pip dependencies for full test suite

The packages in this repository use a few package only available from pip as test_depends.

For the buildfarm environment, these dependencies and tests are disabled, because a package may not be packaged into a deb/rpm against dependencies from another package manager (pip).

To install all dependencies and run the full test suite, export environment variable ENABLE_PIP_TEST_DEPENDS=1 - which the GitHub Action CI for this repo does.

ROS Distribution Status

Distro	Dev	Doc	Ubuntu Bin
Humble
Jazzy
Lyrical
Rolling

Unsupported Distributions

These ROS distributions will receive no future release updates or code compatibility support.

Distro	Date Support Ended	Reason
Kilted Kaiju	October 5, 2026	Distro EOL in November

CONTRIBUTING

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

nodl repository

ament_nodl nodl_tutorial_basics nodl_tutorial_dummy_robot nodl nodl_common_interfaces nodl_docgen nodl_generator_common nodl_generator_cpp nodl_generator_py nodl_observe nodl_runtime_py nodl_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
ament_nodl	2.0.3
nodl_tutorial_basics	2.0.3
nodl_tutorial_dummy_robot	2.0.3
nodl	2.0.3
nodl_common_interfaces	2.0.3
nodl_docgen	2.0.3
nodl_generator_common	2.0.3
nodl_generator_cpp	2.0.3
nodl_generator_py	2.0.3
nodl_observe	2.0.3
nodl_runtime_py	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	2.0.3
test_nodl_generators_downstream	2.0.3

README

NoDL - Node Definition Language

NoDL logo

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).

Find complete documentation at https://nodl.readthedocs.io/en/latest/

Repository structure

NoDL is split into packages for the schema, code generators, documentation generation, and ROS 2 integration. The nodl metapackage pulls in the common ones, so most users only need to depend on it. The package list in the documentation describes each package.

The NoDL schema, key to this whole thing, is nodl.schema.yaml.

Outside the packages:

design/: Design documents for NoDL features
examples/: Example packages that the tutorials build on
nodl/doc/: Documentation source for the ReadTheDocs page
test_ament_nodl/, test_nodl_generators/ and test_nodl_generators_downstream/: Integration tests for the CMake macros and the code generators
tools/: Scripts supporting development and build workflows

Developing

See RELEASING.md for versioning and tag releases.

Setup

Clone the repo and install pre-commit hooks:

pre-commit install
pre-commit install --hook-type prepare-commit-msg

The prepare-commit-msg hook will automatically add the Signed-off-by line to your commits. If you prefer to sign off manually, use git commit -s.

Pip dependencies for full test suite

The packages in this repository use a few package only available from pip as test_depends.

For the buildfarm environment, these dependencies and tests are disabled, because a package may not be packaged into a deb/rpm against dependencies from another package manager (pip).

To install all dependencies and run the full test suite, export environment variable ENABLE_PIP_TEST_DEPENDS=1 - which the GitHub Action CI for this repo does.

ROS Distribution Status

Distro	Dev	Doc	Ubuntu Bin
Humble
Jazzy
Lyrical
Rolling

Unsupported Distributions

These ROS distributions will receive no future release updates or code compatibility support.

Distro	Date Support Ended	Reason
Kilted Kaiju	October 5, 2026	Distro EOL in November

CONTRIBUTING

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.

nodl repository

ament_nodl nodl_tutorial_basics nodl_tutorial_dummy_robot nodl nodl_common_interfaces nodl_docgen nodl_generator_common nodl_generator_cpp nodl_generator_py nodl_observe nodl_runtime_py nodl_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
ament_nodl	2.0.3
nodl_tutorial_basics	2.0.3
nodl_tutorial_dummy_robot	2.0.3
nodl	2.0.3
nodl_common_interfaces	2.0.3
nodl_docgen	2.0.3
nodl_generator_common	2.0.3
nodl_generator_cpp	2.0.3
nodl_generator_py	2.0.3
nodl_observe	2.0.3
nodl_runtime_py	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	2.0.3
test_nodl_generators_downstream	2.0.3

README

NoDL - Node Definition Language

NoDL logo

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).

Find complete documentation at https://nodl.readthedocs.io/en/latest/

Repository structure

NoDL is split into packages for the schema, code generators, documentation generation, and ROS 2 integration. The nodl metapackage pulls in the common ones, so most users only need to depend on it. The package list in the documentation describes each package.

The NoDL schema, key to this whole thing, is nodl.schema.yaml.

Outside the packages:

design/: Design documents for NoDL features
examples/: Example packages that the tutorials build on
nodl/doc/: Documentation source for the ReadTheDocs page
test_ament_nodl/, test_nodl_generators/ and test_nodl_generators_downstream/: Integration tests for the CMake macros and the code generators
tools/: Scripts supporting development and build workflows

Developing

See RELEASING.md for versioning and tag releases.

Setup

Clone the repo and install pre-commit hooks:

pre-commit install
pre-commit install --hook-type prepare-commit-msg

The prepare-commit-msg hook will automatically add the Signed-off-by line to your commits. If you prefer to sign off manually, use git commit -s.

Pip dependencies for full test suite

The packages in this repository use a few package only available from pip as test_depends.

For the buildfarm environment, these dependencies and tests are disabled, because a package may not be packaged into a deb/rpm against dependencies from another package manager (pip).

To install all dependencies and run the full test suite, export environment variable ENABLE_PIP_TEST_DEPENDS=1 - which the GitHub Action CI for this repo does.

ROS Distribution Status

Distro	Dev	Doc	Ubuntu Bin
Humble
Jazzy
Lyrical
Rolling

Unsupported Distributions

These ROS distributions will receive no future release updates or code compatibility support.

Distro	Date Support Ended	Reason
Kilted Kaiju	October 5, 2026	Distro EOL in November

CONTRIBUTING

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

nodl repository

ament_nodl nodl_tutorial_basics nodl_tutorial_dummy_robot nodl nodl_common_interfaces nodl_docgen nodl_generator_common nodl_generator_cpp nodl_generator_py nodl_observe nodl_runtime_py nodl_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
ament_nodl	2.0.3
nodl_tutorial_basics	2.0.3
nodl_tutorial_dummy_robot	2.0.3
nodl	2.0.3
nodl_common_interfaces	2.0.3
nodl_docgen	2.0.3
nodl_generator_common	2.0.3
nodl_generator_cpp	2.0.3
nodl_generator_py	2.0.3
nodl_observe	2.0.3
nodl_runtime_py	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	2.0.3
test_nodl_generators_downstream	2.0.3

README

NoDL - Node Definition Language

NoDL logo

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).

Find complete documentation at https://nodl.readthedocs.io/en/latest/

Repository structure

NoDL is split into packages for the schema, code generators, documentation generation, and ROS 2 integration. The nodl metapackage pulls in the common ones, so most users only need to depend on it. The package list in the documentation describes each package.

The NoDL schema, key to this whole thing, is nodl.schema.yaml.

Outside the packages:

design/: Design documents for NoDL features
examples/: Example packages that the tutorials build on
nodl/doc/: Documentation source for the ReadTheDocs page
test_ament_nodl/, test_nodl_generators/ and test_nodl_generators_downstream/: Integration tests for the CMake macros and the code generators
tools/: Scripts supporting development and build workflows

Developing

See RELEASING.md for versioning and tag releases.

Setup

Clone the repo and install pre-commit hooks:

pre-commit install
pre-commit install --hook-type prepare-commit-msg

The prepare-commit-msg hook will automatically add the Signed-off-by line to your commits. If you prefer to sign off manually, use git commit -s.

Pip dependencies for full test suite

The packages in this repository use a few package only available from pip as test_depends.

For the buildfarm environment, these dependencies and tests are disabled, because a package may not be packaged into a deb/rpm against dependencies from another package manager (pip).

To install all dependencies and run the full test suite, export environment variable ENABLE_PIP_TEST_DEPENDS=1 - which the GitHub Action CI for this repo does.

ROS Distribution Status

Distro	Dev	Doc	Ubuntu Bin
Humble
Jazzy
Lyrical
Rolling

Unsupported Distributions

These ROS distributions will receive no future release updates or code compatibility support.

Distro	Date Support Ended	Reason
Kilted Kaiju	October 5, 2026	Distro EOL in November

CONTRIBUTING

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

nodl repository

ament_nodl nodl_tutorial_basics nodl_tutorial_dummy_robot nodl nodl_common_interfaces nodl_docgen nodl_generator_common nodl_generator_cpp nodl_generator_py nodl_observe nodl_runtime_py nodl_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
ament_nodl	2.0.3
nodl_tutorial_basics	2.0.3
nodl_tutorial_dummy_robot	2.0.3
nodl	2.0.3
nodl_common_interfaces	2.0.3
nodl_docgen	2.0.3
nodl_generator_common	2.0.3
nodl_generator_cpp	2.0.3
nodl_generator_py	2.0.3
nodl_observe	2.0.3
nodl_runtime_py	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	2.0.3
test_nodl_generators_downstream	2.0.3

README

NoDL - Node Definition Language

NoDL logo

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).

Find complete documentation at https://nodl.readthedocs.io/en/latest/

Repository structure

NoDL is split into packages for the schema, code generators, documentation generation, and ROS 2 integration. The nodl metapackage pulls in the common ones, so most users only need to depend on it. The package list in the documentation describes each package.

The NoDL schema, key to this whole thing, is nodl.schema.yaml.

Outside the packages:

design/: Design documents for NoDL features
examples/: Example packages that the tutorials build on
nodl/doc/: Documentation source for the ReadTheDocs page
test_ament_nodl/, test_nodl_generators/ and test_nodl_generators_downstream/: Integration tests for the CMake macros and the code generators
tools/: Scripts supporting development and build workflows

Developing

See RELEASING.md for versioning and tag releases.

Setup

Clone the repo and install pre-commit hooks:

pre-commit install
pre-commit install --hook-type prepare-commit-msg

The prepare-commit-msg hook will automatically add the Signed-off-by line to your commits. If you prefer to sign off manually, use git commit -s.

Pip dependencies for full test suite

The packages in this repository use a few package only available from pip as test_depends.

For the buildfarm environment, these dependencies and tests are disabled, because a package may not be packaged into a deb/rpm against dependencies from another package manager (pip).

To install all dependencies and run the full test suite, export environment variable ENABLE_PIP_TEST_DEPENDS=1 - which the GitHub Action CI for this repo does.

ROS Distribution Status

Distro	Dev	Doc	Ubuntu Bin
Humble
Jazzy
Lyrical
Rolling

Unsupported Distributions

These ROS distributions will receive no future release updates or code compatibility support.

Distro	Date Support Ended	Reason
Kilted Kaiju	October 5, 2026	Distro EOL in November

CONTRIBUTING

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

nodl repository

ament_nodl nodl_tutorial_basics nodl_tutorial_dummy_robot nodl nodl_common_interfaces nodl_docgen nodl_generator_common nodl_generator_cpp nodl_generator_py nodl_observe nodl_runtime_py nodl_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
ament_nodl	2.0.3
nodl_tutorial_basics	2.0.3
nodl_tutorial_dummy_robot	2.0.3
nodl	2.0.3
nodl_common_interfaces	2.0.3
nodl_docgen	2.0.3
nodl_generator_common	2.0.3
nodl_generator_cpp	2.0.3
nodl_generator_py	2.0.3
nodl_observe	2.0.3
nodl_runtime_py	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	2.0.3
test_nodl_generators_downstream	2.0.3

README

NoDL - Node Definition Language

NoDL logo

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).

Find complete documentation at https://nodl.readthedocs.io/en/latest/

Repository structure

NoDL is split into packages for the schema, code generators, documentation generation, and ROS 2 integration. The nodl metapackage pulls in the common ones, so most users only need to depend on it. The package list in the documentation describes each package.

The NoDL schema, key to this whole thing, is nodl.schema.yaml.

Outside the packages:

design/: Design documents for NoDL features
examples/: Example packages that the tutorials build on
nodl/doc/: Documentation source for the ReadTheDocs page
test_ament_nodl/, test_nodl_generators/ and test_nodl_generators_downstream/: Integration tests for the CMake macros and the code generators
tools/: Scripts supporting development and build workflows

Developing

See RELEASING.md for versioning and tag releases.

Setup

Clone the repo and install pre-commit hooks:

pre-commit install
pre-commit install --hook-type prepare-commit-msg

The prepare-commit-msg hook will automatically add the Signed-off-by line to your commits. If you prefer to sign off manually, use git commit -s.

Pip dependencies for full test suite

The packages in this repository use a few package only available from pip as test_depends.

For the buildfarm environment, these dependencies and tests are disabled, because a package may not be packaged into a deb/rpm against dependencies from another package manager (pip).

To install all dependencies and run the full test suite, export environment variable ENABLE_PIP_TEST_DEPENDS=1 - which the GitHub Action CI for this repo does.

ROS Distribution Status

Distro	Dev	Doc	Ubuntu Bin
Humble
Jazzy
Lyrical
Rolling

Unsupported Distributions

These ROS distributions will receive no future release updates or code compatibility support.

Distro	Date Support Ended	Reason
Kilted Kaiju	October 5, 2026	Distro EOL in November

CONTRIBUTING

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

nodl repository

ament_nodl nodl_tutorial_basics nodl_tutorial_dummy_robot nodl nodl_common_interfaces nodl_docgen nodl_generator_common nodl_generator_cpp nodl_generator_py nodl_observe nodl_runtime_py nodl_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
ament_nodl	2.0.3
nodl_tutorial_basics	2.0.3
nodl_tutorial_dummy_robot	2.0.3
nodl	2.0.3
nodl_common_interfaces	2.0.3
nodl_docgen	2.0.3
nodl_generator_common	2.0.3
nodl_generator_cpp	2.0.3
nodl_generator_py	2.0.3
nodl_observe	2.0.3
nodl_runtime_py	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	2.0.3
test_nodl_generators_downstream	2.0.3

README

NoDL - Node Definition Language

NoDL logo

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).

Find complete documentation at https://nodl.readthedocs.io/en/latest/

Repository structure

NoDL is split into packages for the schema, code generators, documentation generation, and ROS 2 integration. The nodl metapackage pulls in the common ones, so most users only need to depend on it. The package list in the documentation describes each package.

The NoDL schema, key to this whole thing, is nodl.schema.yaml.

Outside the packages:

design/: Design documents for NoDL features
examples/: Example packages that the tutorials build on
nodl/doc/: Documentation source for the ReadTheDocs page
test_ament_nodl/, test_nodl_generators/ and test_nodl_generators_downstream/: Integration tests for the CMake macros and the code generators
tools/: Scripts supporting development and build workflows

Developing

See RELEASING.md for versioning and tag releases.

Setup

Clone the repo and install pre-commit hooks:

pre-commit install
pre-commit install --hook-type prepare-commit-msg

The prepare-commit-msg hook will automatically add the Signed-off-by line to your commits. If you prefer to sign off manually, use git commit -s.

Pip dependencies for full test suite

The packages in this repository use a few package only available from pip as test_depends.

For the buildfarm environment, these dependencies and tests are disabled, because a package may not be packaged into a deb/rpm against dependencies from another package manager (pip).

To install all dependencies and run the full test suite, export environment variable ENABLE_PIP_TEST_DEPENDS=1 - which the GitHub Action CI for this repo does.

ROS Distribution Status

Distro	Dev	Doc	Ubuntu Bin
Humble
Jazzy
Lyrical
Rolling

Unsupported Distributions

These ROS distributions will receive no future release updates or code compatibility support.

Distro	Date Support Ended	Reason
Kilted Kaiju	October 5, 2026	Distro EOL in November

CONTRIBUTING

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

nodl repository

ament_nodl nodl_tutorial_basics nodl_tutorial_dummy_robot nodl nodl_common_interfaces nodl_docgen nodl_generator_common nodl_generator_cpp nodl_generator_py nodl_observe nodl_runtime_py nodl_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
ament_nodl	2.0.3
nodl_tutorial_basics	2.0.3
nodl_tutorial_dummy_robot	2.0.3
nodl	2.0.3
nodl_common_interfaces	2.0.3
nodl_docgen	2.0.3
nodl_generator_common	2.0.3
nodl_generator_cpp	2.0.3
nodl_generator_py	2.0.3
nodl_observe	2.0.3
nodl_runtime_py	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	2.0.3
test_nodl_generators_downstream	2.0.3

README

NoDL - Node Definition Language

NoDL logo

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).

Find complete documentation at https://nodl.readthedocs.io/en/latest/

Repository structure

NoDL is split into packages for the schema, code generators, documentation generation, and ROS 2 integration. The nodl metapackage pulls in the common ones, so most users only need to depend on it. The package list in the documentation describes each package.

The NoDL schema, key to this whole thing, is nodl.schema.yaml.

Outside the packages:

design/: Design documents for NoDL features
examples/: Example packages that the tutorials build on
nodl/doc/: Documentation source for the ReadTheDocs page
test_ament_nodl/, test_nodl_generators/ and test_nodl_generators_downstream/: Integration tests for the CMake macros and the code generators
tools/: Scripts supporting development and build workflows

Developing

See RELEASING.md for versioning and tag releases.

Setup

Clone the repo and install pre-commit hooks:

pre-commit install
pre-commit install --hook-type prepare-commit-msg

The prepare-commit-msg hook will automatically add the Signed-off-by line to your commits. If you prefer to sign off manually, use git commit -s.

Pip dependencies for full test suite

The packages in this repository use a few package only available from pip as test_depends.

For the buildfarm environment, these dependencies and tests are disabled, because a package may not be packaged into a deb/rpm against dependencies from another package manager (pip).

To install all dependencies and run the full test suite, export environment variable ENABLE_PIP_TEST_DEPENDS=1 - which the GitHub Action CI for this repo does.

ROS Distribution Status

Distro	Dev	Doc	Ubuntu Bin
Humble
Jazzy
Lyrical
Rolling

Unsupported Distributions

These ROS distributions will receive no future release updates or code compatibility support.

Distro	Date Support Ended	Reason
Kilted Kaiju	October 5, 2026	Distro EOL in November

CONTRIBUTING

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

nodl repository

ament_nodl nodl_tutorial_basics nodl_tutorial_dummy_robot nodl nodl_common_interfaces nodl_docgen nodl_generator_common nodl_generator_cpp nodl_generator_py nodl_observe nodl_runtime_py nodl_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
ament_nodl	2.0.3
nodl_tutorial_basics	2.0.3
nodl_tutorial_dummy_robot	2.0.3
nodl	2.0.3
nodl_common_interfaces	2.0.3
nodl_docgen	2.0.3
nodl_generator_common	2.0.3
nodl_generator_cpp	2.0.3
nodl_generator_py	2.0.3
nodl_observe	2.0.3
nodl_runtime_py	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	2.0.3
test_nodl_generators_downstream	2.0.3

README

NoDL - Node Definition Language

NoDL logo

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).

Find complete documentation at https://nodl.readthedocs.io/en/latest/

Repository structure

NoDL is split into packages for the schema, code generators, documentation generation, and ROS 2 integration. The nodl metapackage pulls in the common ones, so most users only need to depend on it. The package list in the documentation describes each package.

The NoDL schema, key to this whole thing, is nodl.schema.yaml.

Outside the packages:

design/: Design documents for NoDL features
examples/: Example packages that the tutorials build on
nodl/doc/: Documentation source for the ReadTheDocs page
test_ament_nodl/, test_nodl_generators/ and test_nodl_generators_downstream/: Integration tests for the CMake macros and the code generators
tools/: Scripts supporting development and build workflows

Developing

See RELEASING.md for versioning and tag releases.

Setup

Clone the repo and install pre-commit hooks:

pre-commit install
pre-commit install --hook-type prepare-commit-msg

The prepare-commit-msg hook will automatically add the Signed-off-by line to your commits. If you prefer to sign off manually, use git commit -s.

Pip dependencies for full test suite

The packages in this repository use a few package only available from pip as test_depends.

For the buildfarm environment, these dependencies and tests are disabled, because a package may not be packaged into a deb/rpm against dependencies from another package manager (pip).

To install all dependencies and run the full test suite, export environment variable ENABLE_PIP_TEST_DEPENDS=1 - which the GitHub Action CI for this repo does.

ROS Distribution Status

Distro	Dev	Doc	Ubuntu Bin
Humble
Jazzy
Lyrical
Rolling

Unsupported Distributions

These ROS distributions will receive no future release updates or code compatibility support.

Distro	Date Support Ended	Reason
Kilted Kaiju	October 5, 2026	Distro EOL in November

CONTRIBUTING

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.

nodl repository

ament_nodl nodl_tutorial_basics nodl_tutorial_dummy_robot nodl nodl_common_interfaces nodl_docgen nodl_generator_common nodl_generator_cpp nodl_generator_py nodl_observe nodl_runtime_py nodl_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-11-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
ament_nodl	2.0.3
nodl_tutorial_basics	2.0.3
nodl_tutorial_dummy_robot	2.0.3
nodl	2.0.3
nodl_common_interfaces	2.0.3
nodl_docgen	2.0.3
nodl_generator_common	2.0.3
nodl_generator_cpp	2.0.3
nodl_generator_py	2.0.3
nodl_observe	2.0.3
nodl_runtime_py	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	2.0.3
test_nodl_generators_downstream	2.0.3

README

NoDL - Node Definition Language

NoDL logo

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).

Find complete documentation at https://nodl.readthedocs.io/en/latest/

Repository structure

NoDL is split into packages for the schema, code generators, documentation generation, and ROS 2 integration. The nodl metapackage pulls in the common ones, so most users only need to depend on it. The package list in the documentation describes each package.

The NoDL schema, key to this whole thing, is nodl.schema.yaml.

Outside the packages:

design/: Design documents for NoDL features
examples/: Example packages that the tutorials build on
nodl/doc/: Documentation source for the ReadTheDocs page
test_ament_nodl/, test_nodl_generators/ and test_nodl_generators_downstream/: Integration tests for the CMake macros and the code generators
tools/: Scripts supporting development and build workflows

Developing

See RELEASING.md for versioning and tag releases.

Setup

Clone the repo and install pre-commit hooks:

pre-commit install
pre-commit install --hook-type prepare-commit-msg

The prepare-commit-msg hook will automatically add the Signed-off-by line to your commits. If you prefer to sign off manually, use git commit -s.

Pip dependencies for full test suite

The packages in this repository use a few package only available from pip as test_depends.

For the buildfarm environment, these dependencies and tests are disabled, because a package may not be packaged into a deb/rpm against dependencies from another package manager (pip).

To install all dependencies and run the full test suite, export environment variable ENABLE_PIP_TEST_DEPENDS=1 - which the GitHub Action CI for this repo does.

ROS Distribution Status

Distro	Dev	Doc	Ubuntu Bin
Humble
Jazzy
Lyrical
Rolling

Unsupported Distributions

These ROS distributions will receive no future release updates or code compatibility support.

Distro	Date Support Ended	Reason
Kilted Kaiju	October 5, 2026	Distro EOL in November

nodl repository

ROS Distrohumble

Repository Summary

Packages

README

NoDL - Node Definition Language

Repository structure

Developing

Setup

Pip dependencies for full test suite

ROS Distribution Status

Unsupported Distributions

CONTRIBUTING

nodl repository

ROS Distrojazzy

Repository Summary

Packages

README

NoDL - Node Definition Language

Repository structure

Developing

Setup

Pip dependencies for full test suite

ROS Distribution Status

Unsupported Distributions

CONTRIBUTING

nodl repository

ROS Distrokilted

Repository Summary

Packages

README

NoDL - Node Definition Language

Repository structure

Developing

Setup

Pip dependencies for full test suite

ROS Distribution Status

Unsupported Distributions

CONTRIBUTING

nodl repository

ROS Distrolyrical

Repository Summary

Packages

README

NoDL - Node Definition Language

Repository structure

Developing

Setup

Pip dependencies for full test suite

ROS Distribution Status

Unsupported Distributions

CONTRIBUTING

nodl repository

ROS Distrorolling

Repository Summary

Packages

README

NoDL - Node Definition Language

Repository structure

Developing

Setup

Pip dependencies for full test suite

ROS Distribution Status

Unsupported Distributions

CONTRIBUTING

nodl repository

ROS Distrohumble

Repository Summary

Packages

README

NoDL - Node Definition Language

Repository structure

Developing

Setup

Pip dependencies for full test suite

ROS Distribution Status

Unsupported Distributions

CONTRIBUTING

nodl repository

ROS Distrohumble

ROS Distro
humble

ROS Distro
jazzy

ROS Distro
kilted

ROS Distro
lyrical

ROS Distro
rolling

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble