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_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-10
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	2.0.2
nodl_generator_cpp	2.0.3
nodl_generator_py	0.1.0
nodl_observe	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	0.1.0
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

ament_nodl/: CMake macros to register NoDL documents with the ament index
nodl/: Metapackage that pulls in the other packages as dependencies. Acts as an easy default for those who don’t want a-la-carte.
- doc/: Documentation source for the ReadTheDocs page
nodl_common_interfaces/: Language-independent NoDL descriptions for the standard ROS 2 node and lifecycle-node base types, with C++ and Python code-generation metadata.
nodl_docgen/: Sphinx extension rendering a NoDL document into a documentation page at build time.
nodl_generator_common/: Language-agnostic code generator logic shared by NoDL generators.
nodl_generator_cpp/: C++ code generator — produces an abstract base class from a NoDL document, with a CMake macro for build integration.
nodl_generator_py/: Python code generator — produces an rclpy base class from a NoDL document at build time.
nodl_observe/: C++ (ament_cmake) package that observes a running ROS 2 node and produces its runtime interface as a rosgraph_msgs/Node message — a reusable observe_node(...) library plus an observe executable. Stage one of Observe → Describe.
nodl_schema/: Package providing the NoDL schema, validation tools, a typed data model, and semantic comparison of loaded documents. nodl.schema.yaml: The NoDL schema, key to this whole thing!
ros2nodl/: ros2cli extension providing ros2 nodl ... commands
test_nodl_generators/: End-to-end integration tests for the C++ and Python NoDL generators.
test_nodl_generators_downstream/: Builds against the exported libraries of test_nodl_generators from a separate package.
tools/: Scripts supporting development and build workflows

Developing

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_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
jazzy

Repository Summary

Description
Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-10
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	2.0.2
nodl_generator_cpp	2.0.3
nodl_generator_py	0.1.0
nodl_observe	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	0.1.0
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

ament_nodl/: CMake macros to register NoDL documents with the ament index
nodl/: Metapackage that pulls in the other packages as dependencies. Acts as an easy default for those who don’t want a-la-carte.
- doc/: Documentation source for the ReadTheDocs page
nodl_common_interfaces/: Language-independent NoDL descriptions for the standard ROS 2 node and lifecycle-node base types, with C++ and Python code-generation metadata.
nodl_docgen/: Sphinx extension rendering a NoDL document into a documentation page at build time.
nodl_generator_common/: Language-agnostic code generator logic shared by NoDL generators.
nodl_generator_cpp/: C++ code generator — produces an abstract base class from a NoDL document, with a CMake macro for build integration.
nodl_generator_py/: Python code generator — produces an rclpy base class from a NoDL document at build time.
nodl_observe/: C++ (ament_cmake) package that observes a running ROS 2 node and produces its runtime interface as a rosgraph_msgs/Node message — a reusable observe_node(...) library plus an observe executable. Stage one of Observe → Describe.
nodl_schema/: Package providing the NoDL schema, validation tools, a typed data model, and semantic comparison of loaded documents. nodl.schema.yaml: The NoDL schema, key to this whole thing!
ros2nodl/: ros2cli extension providing ros2 nodl ... commands
test_nodl_generators/: End-to-end integration tests for the C++ and Python NoDL generators.
test_nodl_generators_downstream/: Builds against the exported libraries of test_nodl_generators from a separate package.
tools/: Scripts supporting development and build workflows

Developing

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_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
kilted

Repository Summary

Description
Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-10
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	2.0.2
nodl_generator_cpp	2.0.3
nodl_generator_py	0.1.0
nodl_observe	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	0.1.0
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

ament_nodl/: CMake macros to register NoDL documents with the ament index
nodl/: Metapackage that pulls in the other packages as dependencies. Acts as an easy default for those who don’t want a-la-carte.
- doc/: Documentation source for the ReadTheDocs page
nodl_common_interfaces/: Language-independent NoDL descriptions for the standard ROS 2 node and lifecycle-node base types, with C++ and Python code-generation metadata.
nodl_docgen/: Sphinx extension rendering a NoDL document into a documentation page at build time.
nodl_generator_common/: Language-agnostic code generator logic shared by NoDL generators.
nodl_generator_cpp/: C++ code generator — produces an abstract base class from a NoDL document, with a CMake macro for build integration.
nodl_generator_py/: Python code generator — produces an rclpy base class from a NoDL document at build time.
nodl_observe/: C++ (ament_cmake) package that observes a running ROS 2 node and produces its runtime interface as a rosgraph_msgs/Node message — a reusable observe_node(...) library plus an observe executable. Stage one of Observe → Describe.
nodl_schema/: Package providing the NoDL schema, validation tools, a typed data model, and semantic comparison of loaded documents. nodl.schema.yaml: The NoDL schema, key to this whole thing!
ros2nodl/: ros2cli extension providing ros2 nodl ... commands
test_nodl_generators/: End-to-end integration tests for the C++ and Python NoDL generators.
test_nodl_generators_downstream/: Builds against the exported libraries of test_nodl_generators from a separate package.
tools/: Scripts supporting development and build workflows

Developing

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_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
lyrical

Repository Summary

Description
Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-10
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	2.0.2
nodl_generator_cpp	2.0.3
nodl_generator_py	0.1.0
nodl_observe	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	0.1.0
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

ament_nodl/: CMake macros to register NoDL documents with the ament index
nodl/: Metapackage that pulls in the other packages as dependencies. Acts as an easy default for those who don’t want a-la-carte.
- doc/: Documentation source for the ReadTheDocs page
nodl_common_interfaces/: Language-independent NoDL descriptions for the standard ROS 2 node and lifecycle-node base types, with C++ and Python code-generation metadata.
nodl_docgen/: Sphinx extension rendering a NoDL document into a documentation page at build time.
nodl_generator_common/: Language-agnostic code generator logic shared by NoDL generators.
nodl_generator_cpp/: C++ code generator — produces an abstract base class from a NoDL document, with a CMake macro for build integration.
nodl_generator_py/: Python code generator — produces an rclpy base class from a NoDL document at build time.
nodl_observe/: C++ (ament_cmake) package that observes a running ROS 2 node and produces its runtime interface as a rosgraph_msgs/Node message — a reusable observe_node(...) library plus an observe executable. Stage one of Observe → Describe.
nodl_schema/: Package providing the NoDL schema, validation tools, a typed data model, and semantic comparison of loaded documents. nodl.schema.yaml: The NoDL schema, key to this whole thing!
ros2nodl/: ros2cli extension providing ros2 nodl ... commands
test_nodl_generators/: End-to-end integration tests for the C++ and Python NoDL generators.
test_nodl_generators_downstream/: Builds against the exported libraries of test_nodl_generators from a separate package.
tools/: Scripts supporting development and build workflows

Developing

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_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
rolling

Repository Summary

Description
Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-10
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	2.0.2
nodl_generator_cpp	2.0.3
nodl_generator_py	0.1.0
nodl_observe	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	0.1.0
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

ament_nodl/: CMake macros to register NoDL documents with the ament index
nodl/: Metapackage that pulls in the other packages as dependencies. Acts as an easy default for those who don’t want a-la-carte.
- doc/: Documentation source for the ReadTheDocs page
nodl_common_interfaces/: Language-independent NoDL descriptions for the standard ROS 2 node and lifecycle-node base types, with C++ and Python code-generation metadata.
nodl_docgen/: Sphinx extension rendering a NoDL document into a documentation page at build time.
nodl_generator_common/: Language-agnostic code generator logic shared by NoDL generators.
nodl_generator_cpp/: C++ code generator — produces an abstract base class from a NoDL document, with a CMake macro for build integration.
nodl_generator_py/: Python code generator — produces an rclpy base class from a NoDL document at build time.
nodl_observe/: C++ (ament_cmake) package that observes a running ROS 2 node and produces its runtime interface as a rosgraph_msgs/Node message — a reusable observe_node(...) library plus an observe executable. Stage one of Observe → Describe.
nodl_schema/: Package providing the NoDL schema, validation tools, a typed data model, and semantic comparison of loaded documents. nodl.schema.yaml: The NoDL schema, key to this whole thing!
ros2nodl/: ros2cli extension providing ros2 nodl ... commands
test_nodl_generators/: End-to-end integration tests for the C++ and Python NoDL generators.
test_nodl_generators_downstream/: Builds against the exported libraries of test_nodl_generators from a separate package.
tools/: Scripts supporting development and build workflows

Developing

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 github 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_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-10
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	2.0.2
nodl_generator_cpp	2.0.3
nodl_generator_py	0.1.0
nodl_observe	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	0.1.0
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

ament_nodl/: CMake macros to register NoDL documents with the ament index
nodl/: Metapackage that pulls in the other packages as dependencies. Acts as an easy default for those who don’t want a-la-carte.
- doc/: Documentation source for the ReadTheDocs page
nodl_common_interfaces/: Language-independent NoDL descriptions for the standard ROS 2 node and lifecycle-node base types, with C++ and Python code-generation metadata.
nodl_docgen/: Sphinx extension rendering a NoDL document into a documentation page at build time.
nodl_generator_common/: Language-agnostic code generator logic shared by NoDL generators.
nodl_generator_cpp/: C++ code generator — produces an abstract base class from a NoDL document, with a CMake macro for build integration.
nodl_generator_py/: Python code generator — produces an rclpy base class from a NoDL document at build time.
nodl_observe/: C++ (ament_cmake) package that observes a running ROS 2 node and produces its runtime interface as a rosgraph_msgs/Node message — a reusable observe_node(...) library plus an observe executable. Stage one of Observe → Describe.
nodl_schema/: Package providing the NoDL schema, validation tools, a typed data model, and semantic comparison of loaded documents. nodl.schema.yaml: The NoDL schema, key to this whole thing!
ros2nodl/: ros2cli extension providing ros2 nodl ... commands
test_nodl_generators/: End-to-end integration tests for the C++ and Python NoDL generators.
test_nodl_generators_downstream/: Builds against the exported libraries of test_nodl_generators from a separate package.
tools/: Scripts supporting development and build workflows

Developing

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

nodl_python ros2nodl

ROS Distro
galactic

Repository Summary

Description
Checkout URI	https://github.com/ubuntu-robotics/nodl.git
VCS Type	git
VCS Version	master
Last Updated	2022-11-17
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
nodl_python	0.3.1
ros2nodl	0.3.1

README

NoDL - Node Definition Language

NoDL is the Node Definition Language - a common declarative representation of a Node’s interfaces including Parameters, Topics, Services, and Actions. See the design document (review in progress) for more context on the project.

This repository contains the CLI and parsing utilities for NoDL.

Installation

Run python3 setup.py install

Install the ‘ament_nodl’ extension for exporting NoDL .xml files:

sudo apt-get install ros-<ros2_distro>-ament-nodl

Configuration

Add to package.xml:

<depend>ament_nodl</depend>

Add to CMakeLists.txt:

find_package(ament_nodl REQUIRED)

nodl_export_node_description_file(<package_name>.nodl.xml)

Usage

Create a file called “.nodl.xml" in the same folder as your project's CMakeLists.txt. Include in this file the interface description for each node in the package. Node attributes can be `parameter`, `topic`, `service` or `action`.

Valid values for the topic role tag are: publisher, subscription, or both. Valid values for the service role tag are: server, client, or both. Valid values for the action role tag are: server, client, or both. Types can have custom names.

Example

<interface version="1">
	<node name="<node1_name>" executable="<executable_name>">
		<parameter name="rate" type="int" />
		<topic name="/foo/bar" type="std_msgs/msg/String" role="subscription" />
		<service name="/example_service" type="std_srvs/srv/Empty" role="client" />
		<action name="/example_action" type="example_interfaces/action/Fibonacci" role="both" />
	</node>
	<node name="<node2_name>" executable="<executable_name>">
		...
	</node>
</interface>

CLI

See available verbs on the ROS 2 command line tools for NoDL repo.

CONTRIBUTING

nodl repository

nodl_python ros2nodl

ROS Distro
iron

Repository Summary

Description
Checkout URI	https://github.com/ubuntu-robotics/nodl.git
VCS Type	git
VCS Version	master
Last Updated	2022-11-17
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
nodl_python	0.3.1
ros2nodl	0.3.1

README

NoDL - Node Definition Language

NoDL is the Node Definition Language - a common declarative representation of a Node’s interfaces including Parameters, Topics, Services, and Actions. See the design document (review in progress) for more context on the project.

This repository contains the CLI and parsing utilities for NoDL.

Installation

Run python3 setup.py install

Install the ‘ament_nodl’ extension for exporting NoDL .xml files:

sudo apt-get install ros-<ros2_distro>-ament-nodl

Configuration

Add to package.xml:

<depend>ament_nodl</depend>

Add to CMakeLists.txt:

find_package(ament_nodl REQUIRED)

nodl_export_node_description_file(<package_name>.nodl.xml)

Usage

Create a file called “.nodl.xml" in the same folder as your project's CMakeLists.txt. Include in this file the interface description for each node in the package. Node attributes can be `parameter`, `topic`, `service` or `action`.

Valid values for the topic role tag are: publisher, subscription, or both. Valid values for the service role tag are: server, client, or both. Valid values for the action role tag are: server, client, or both. Types can have custom names.

Example

<interface version="1">
	<node name="<node1_name>" executable="<executable_name>">
		<parameter name="rate" type="int" />
		<topic name="/foo/bar" type="std_msgs/msg/String" role="subscription" />
		<service name="/example_service" type="std_srvs/srv/Empty" role="client" />
		<action name="/example_action" type="example_interfaces/action/Fibonacci" role="both" />
	</node>
	<node name="<node2_name>" executable="<executable_name>">
		...
	</node>
</interface>

CLI

See available verbs on the ROS 2 command line tools for NoDL repo.

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_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-10
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	2.0.2
nodl_generator_cpp	2.0.3
nodl_generator_py	0.1.0
nodl_observe	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	0.1.0
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

ament_nodl/: CMake macros to register NoDL documents with the ament index
nodl/: Metapackage that pulls in the other packages as dependencies. Acts as an easy default for those who don’t want a-la-carte.
- doc/: Documentation source for the ReadTheDocs page
nodl_common_interfaces/: Language-independent NoDL descriptions for the standard ROS 2 node and lifecycle-node base types, with C++ and Python code-generation metadata.
nodl_docgen/: Sphinx extension rendering a NoDL document into a documentation page at build time.
nodl_generator_common/: Language-agnostic code generator logic shared by NoDL generators.
nodl_generator_cpp/: C++ code generator — produces an abstract base class from a NoDL document, with a CMake macro for build integration.
nodl_generator_py/: Python code generator — produces an rclpy base class from a NoDL document at build time.
nodl_observe/: C++ (ament_cmake) package that observes a running ROS 2 node and produces its runtime interface as a rosgraph_msgs/Node message — a reusable observe_node(...) library plus an observe executable. Stage one of Observe → Describe.
nodl_schema/: Package providing the NoDL schema, validation tools, a typed data model, and semantic comparison of loaded documents. nodl.schema.yaml: The NoDL schema, key to this whole thing!
ros2nodl/: ros2cli extension providing ros2 nodl ... commands
test_nodl_generators/: End-to-end integration tests for the C++ and Python NoDL generators.
test_nodl_generators_downstream/: Builds against the exported libraries of test_nodl_generators from a separate package.
tools/: Scripts supporting development and build workflows

Developing

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_schema ros2nodl test_ament_nodl test_nodl_generators test_nodl_generators_downstream

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/ros-tooling/nodl.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-10
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	2.0.2
nodl_generator_cpp	2.0.3
nodl_generator_py	0.1.0
nodl_observe	2.0.3
nodl_schema	2.0.3
ros2nodl	2.0.3
test_ament_nodl	2.0.3
test_nodl_generators	0.1.0
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

ament_nodl/: CMake macros to register NoDL documents with the ament index
nodl/: Metapackage that pulls in the other packages as dependencies. Acts as an easy default for those who don’t want a-la-carte.
- doc/: Documentation source for the ReadTheDocs page
nodl_common_interfaces/: Language-independent NoDL descriptions for the standard ROS 2 node and lifecycle-node base types, with C++ and Python code-generation metadata.
nodl_docgen/: Sphinx extension rendering a NoDL document into a documentation page at build time.
nodl_generator_common/: Language-agnostic code generator logic shared by NoDL generators.
nodl_generator_cpp/: C++ code generator — produces an abstract base class from a NoDL document, with a CMake macro for build integration.
nodl_generator_py/: Python code generator — produces an rclpy base class from a NoDL document at build time.
nodl_observe/: C++ (ament_cmake) package that observes a running ROS 2 node and produces its runtime interface as a rosgraph_msgs/Node message — a reusable observe_node(...) library plus an observe executable. Stage one of Observe → Describe.
nodl_schema/: Package providing the NoDL schema, validation tools, a typed data model, and semantic comparison of loaded documents. nodl.schema.yaml: The NoDL schema, key to this whole thing!
ros2nodl/: ros2cli extension providing ros2 nodl ... commands
test_nodl_generators/: End-to-end integration tests for the C++ and Python NoDL generators.
test_nodl_generators_downstream/: Builds against the exported libraries of test_nodl_generators from a separate package.
tools/: Scripts supporting development and build workflows

Developing

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 Distrogalactic

ROS Distro
humble

ROS Distro
jazzy

ROS Distro
kilted

ROS Distro
lyrical

ROS Distro
rolling

ROS Distro
humble

ROS Distro
galactic

ROS Distro
iron

ROS Distro
humble

ROS Distro
humble