roschema 0.2.0__tar.gz → 0.3.0__tar.gz

{roschema-0.2.0 → roschema-0.3.0}/.github/workflows/ci.yml

@@ -15,7 +15,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
-      - uses: astral-sh/setup-uv@v5
+      - uses: astral-sh/setup-uv@v10.3.3
         with:
           python-version: "3.12"
           enable-cache: true
@@ -36,10 +36,10 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python-version: ["3.10", "3.11", "3.12", "3.13"]
+        python-version: ["3.10", "3.11", "3.12", "3.13", "3.14"]
     steps:
       - uses: actions/checkout@v4
-      - uses: astral-sh/setup-uv@v5
+      - uses: astral-sh/setup-uv@v10.3.3
         with:
           python-version: ${{ matrix.python-version }}
           enable-cache: true

{roschema-0.2.0 → roschema-0.3.0}/.github/workflows/release.yml

@@ -10,7 +10,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
-      - uses: astral-sh/setup-uv@v5
+      - uses: astral-sh/setup-uv@v10.3.3
         with:
           python-version: "3.12"
           enable-cache: true

{roschema-0.2.0 → roschema-0.3.0}/CHANGELOG.md

@@ -3,6 +3,42 @@
 The format follows [Keep a Changelog](https://keepachangelog.com/), and the
 project adheres to [Semantic Versioning](https://semver.org/).
 
+## [0.3.0] - 2026-11-03
+
+### Added
+
+- Reports say how many interfaces were compared, and on which side the rest
+  exist only (JSON: `coverage`).
+- `--warnings-as-errors` for `check`, `bag-check` and `lint`, and the Action's
+  `warnings-as-errors` input.
+
+### Changed
+
+- Python 3.14 is supported and tested.
+- An empty baseline is an error (exit `2`) instead of a silent pass; pass
+  `--allow-empty` (Action: `allow-empty`) when that is expected.
+
+### Fixed
+
+- `--format github` attaches findings with no new-side location, such as a
+  removed field or a reorder, to the interface's file instead of leaving GitHub
+  to show them against the workflow file.
+- The Action uses `astral-sh/setup-uv@v10.3.3` (Node 24) with its cache off,
+  removing the Node 20 deprecation and missing `uv.lock` warnings.
+
+## [0.2.1] - 2026-11-03
+
+### Added
+
+- `docs/rules.md` opens with a one-line overview of every rule, and lint rules
+  show flagged and preferred examples.
+- `CONTRIBUTING.md` with the development checks and release process.
+
+### Changed
+
+- README restructured for new users: levels and severities, target resolution,
+  suppression syntax, exit codes, Action inputs and troubleshooting.
+
 ## [0.2.0] - 2026-11-03
 
 ### Added

roschema-0.3.0/CONTRIBUTING.md

@@ -0,0 +1,56 @@
+# Contributing
+
+## Setup
+
+roschema uses [uv](https://docs.astral.sh/uv/):
+
+```bash
+uv sync --extra dev --extra bag
+```
+
+## Checks
+
+CI runs these on every pull request; run them before pushing:
+
+```bash
+uv run pytest
+uv run ruff check .
+uv run ruff format --check .
+uv run mypy --strict src
+uv run python -m roschema.rules.gendocs --check
+```
+
+The tests do not need ROS and work in a shell with a ROS environment sourced:
+`pyproject.toml` disables the ROS launch pytest plugins, which cannot be
+imported in the roschema virtualenv.
+
+Every fix or feature should come with a test that fails without it.
+
+## Rules
+
+Each rule lives in its own module under `src/roschema/rules/breaking/` (check
+rules, `RS***`) or `src/roschema/rules/lint/` (lint rules, `RSL***`) and is
+registered in that package's `__init__.py`. Rule IDs are permanent: never
+renumber or reuse one.
+
+`docs/rules.md` is generated from the rule metadata. After changing a rule,
+regenerate it:
+
+```bash
+uv run python -m roschema.rules.gendocs
+```
+
+## Releases
+
+1. Bump `version` in `pyproject.toml` and turn the `[Unreleased]` section of
+   `CHANGELOG.md` into a dated `[X.Y.Z]` section.
+2. Merge to `main`.
+3. Tag the merge commit and push the tag:
+
+   ```bash
+   git tag -a vX.Y.Z -m "Release X.Y.Z"
+   git push origin vX.Y.Z
+   ```
+
+The release workflow then checks that the tag matches the package version, runs
+the checks, builds the sdist and wheel, and publishes them to PyPI.

roschema-0.3.0/PKG-INFO

@@ -0,0 +1,496 @@
+Metadata-Version: 2.5
+Name: roschema
+Version: 0.3.0
+Summary: Breaking-change detection, linting and formatting for ROS 2 interface definitions
+Project-URL: Homepage, https://github.com/justagist/roschema
+Project-URL: Documentation, https://github.com/justagist/roschema#readme
+Project-URL: Repository, https://github.com/justagist/roschema
+Project-URL: Issues, https://github.com/justagist/roschema/issues
+Author-email: Saif Sidhik <saif.sidhik@helloleap.ai>
+License-Expression: Apache-2.0
+License-File: LICENSE
+Keywords: action,breaking-change,interface,lint,msg,ros,ros2,srv
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Developers
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
+Classifier: Programming Language :: Python :: 3.14
+Classifier: Topic :: Software Development :: Quality Assurance
+Classifier: Typing :: Typed
+Requires-Python: >=3.10
+Requires-Dist: rich>=13.0
+Requires-Dist: tomli>=2.0; python_version < '3.11'
+Requires-Dist: typer>=0.12
+Provides-Extra: bag
+Requires-Dist: mcap>=1.1; extra == 'bag'
+Provides-Extra: dev
+Requires-Dist: mypy>=1.10; extra == 'dev'
+Requires-Dist: pytest>=7.4; extra == 'dev'
+Requires-Dist: ruff>=0.5; extra == 'dev'
+Requires-Dist: tomli>=2.0; extra == 'dev'
+Description-Content-Type: text/markdown
+
+# roschema
+
+[![CI](https://github.com/justagist/roschema/actions/workflows/ci.yml/badge.svg)](https://github.com/justagist/roschema/actions/workflows/ci.yml)
+[![PyPI](https://img.shields.io/pypi/v/roschema.svg)](https://pypi.org/project/roschema/)
+[![Python versions](https://img.shields.io/pypi/pyversions/roschema.svg)](https://pypi.org/project/roschema/)
+[![License: Apache-2.0](https://img.shields.io/badge/License-Apache_2.0-blue.svg)](LICENSE)
+[![Ruff](https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/astral-sh/ruff/main/assets/badge/v2.json)](https://github.com/astral-sh/ruff)
+[![Checked with mypy](https://img.shields.io/badge/mypy-strict-blue.svg)](https://mypy-lang.org/)
+
+Catch breaking ROS 2 interface changes in the PR, not on the robot.
+
+`roschema` detects breaking changes, lints and formats ROS 2 interface
+definitions (`.msg`, `.srv`, `.action`) with zero ROS dependencies, so it runs
+in a bare CI container.
+
+![roschema flagging a breaking interface change](https://raw.githubusercontent.com/justagist/_assets/main/roschema/roschema_demo.png)
+
+## Quickstart
+
+From the root of your workspace or repository, compare the working tree against
+the base branch (needs [`uv`](https://docs.astral.sh/uv/); nothing else to
+install):
+
+```bash
+uvx roschema check --against origin/main
+```
+
+roschema finds every interface package below the current directory, compares
+it with the same packages at `origin/main`, and lists each breaking change with
+its rule ID, location and a suggested semver bump. It exits `1` when an error is
+found, so it works as a CI gate as is; to run it on every pull request, use the
+[GitHub Action](#github-action).
+
+Next steps:
+
+- [What gets reported](#what-gets-reported) explains levels and severities.
+- The [rule reference](docs/rules.md) lists every check (`RS***`) and lint
+  (`RSL***`) rule, starting with a one-line overview of each.
+- The [roschema-demo](https://github.com/justagist/roschema-demo) repo has a
+  `robot_msgs` package with a passing and a failing branch to compare, plus a
+  ready-to-copy workflow.
+
+## Installation
+
+Requires Python 3.10+; a ROS installation is **not** needed.
+
+```bash
+uv tool install roschema            # or: pipx install roschema
+uv tool install 'roschema[bag]'     # with MCAP bag support, for bag-check
+```
+
+Inside a virtualenv, `pip install roschema` works too. Outside one, Ubuntu 24.04
+(the Jazzy platform) refuses `pip install` into the system Python
+("externally-managed-environment", PEP 668), so prefer `uv tool` or `pipx`.
+
+To run it without installing anything, use `uvx roschema ...` as in the
+quickstart. The [GitHub Action](#github-action) needs no installation either.
+
+## What gets reported
+
+CDR, the ROS 2 wire format, is positional: fields are serialised in declaration
+order with no field tags. Adding, removing, reordering or retyping a field
+therefore breaks the wire format even when your code still compiles, so
+roschema compares interfaces structurally rather than by text.
+
+Every rule belongs to one or more **compatibility levels**. `--level` picks a
+cumulative bundle of levels to report; the default is `source`.
+
+| Level | Reports | Example |
+|---|---|---|
+| `wire` | CDR byte-stream compatibility only | a field added (RS002) |
+| `source` | wire + generated C++/Python API | a constant removed (RS020) |
+| `introspection` | source + name-based tooling (bags, echo, YAML) | a field renamed (RS005) |
+| `behavior` | introspection + semantics (defaults, constant values) | a default changed (RS030) |
+
+Levels decide **what is reported**; each rule's **severity** (`error`, `warn`
+or `off`) decides whether a reported finding fails the run. Only errors fail;
+warnings are printed but exit `0`. Rules that are off by default (such as RS060)
+are reported at every level once you enable them.
+
+The [rule overview](docs/rules.md#overview) shows each rule's levels and default
+severity in one table.
+
+## Common usage
+
+```bash
+# breaking-change gate in a PR (compare against the base branch)
+roschema check --against origin/main
+
+# check before pushing, against the last commit
+roschema check --against HEAD
+
+# scope to one package, or a subtree with a glob (and exclude vendored packages)
+roschema check src/my_msgs --against origin/main
+roschema check 'src/**' --against origin/main --exclude 'vendor_*'
+
+# only fail on wire-level breaks (loosest gate)
+roschema check --against origin/main --level wire
+
+# machine-readable output for tooling
+roschema check --against origin/main --format json
+
+# style/naming check, and a formatting gate for CI
+roschema lint
+roschema fmt --check
+
+# pin a release baseline, then check against it later (no git needed)
+roschema freeze -o roschema.lock
+roschema check --against roschema.lock
+
+# is this recorded bag still compatible with the installed interfaces?
+roschema bag-check recording.mcap
+
+# what would be checked? (discovered packages and interfaces)
+roschema ls
+```
+
+## Checking
+
+```
+roschema check [TARGET] --against BASELINE [--level LEVEL] [--format text|json|github]
+               [--deep | --no-deep] [--exit-zero] [--warnings-as-errors] [--allow-empty]
+               [--config PATH] [--exclude GLOB]
+```
+
+`TARGET` selects what to check; omit it to check every interface package below
+the current directory.
+
+- **A path** checks the packages below that directory.
+- **A package name** (its `<name>` in `package.xml`) checks that package's
+  source below the current directory. If there is no such source package, the
+  installed copy from the ament index (`AMENT_PREFIX_PATH`) is used, with a
+  warning.
+- **A glob** such as `'src/**'` checks every package below the matching
+  directories, including packages that exist only in a Git or directory
+  baseline (so deleting a package is reported).
+
+Discovery skips trees marked with `COLCON_IGNORE` or `AMENT_IGNORE`, which
+includes colcon's `build/`, `install/` and `log/` directories.
+
+`--against` accepts a git ref (validated with `git rev-parse`), a directory, an
+MCAP bag (`.mcap`) or a lockfile (`roschema.lock`); the type is detected
+automatically. Initialised git submodules are compared at the commit the
+baseline records for them.
+
+Every report says how much was compared, for example `compared 12 interface(s)
+in 3 package(s); 1 only in the target`. A baseline with no interfaces at all is
+an error (exit `2`): every current interface would look newly added, so the
+check would pass without comparing anything. That usually means the wrong
+baseline or target; on the pull request that adds the first interfaces, pass
+`--allow-empty`.
+
+Limitations:
+
+- When a git ref and a directory share a name, the git ref wins; prefix the
+  directory with `./` (`--against ./main`) to use it instead.
+- Lockfile and MCAP baselines have no real paths, so use a workspace or package
+  target with them rather than a path glob.
+- A submodule whose recorded commit is not available locally (for example after
+  a shallow fetch) is skipped with a warning.
+
+### Deep checking
+
+Without `--deep`, an embedded type is compared by name only. `check --deep`
+resolves nested types through the workspace and the ament index and reports
+transitive breakage (RS110): an interface that embeds, directly or through other
+types, a type whose wire layout changed is flagged even when its own definition
+did not change, with the chain that connects them. RS110 takes the severity of
+the change it traces back to, and suppressed or allowlisted changes are not
+followed.
+
+## Linting and formatting
+
+```
+roschema lint [TARGET] [--format text|json|github] [--rules RULE=SEV] [--exit-zero]
+              [--warnings-as-errors] [--config PATH] [--exclude GLOB]
+roschema fmt  [TARGET] [--check] [--exclude GLOB]
+```
+
+`lint` checks a single tree, with no baseline. The naming rules follow rosidl:
+field names in snake_case (RSL001), constants in UPPER_SNAKE_CASE (RSL002) and
+interface names in PascalCase (RSL003). It also flags ambiguous `char` and
+scalar `byte` types (RSL005) and fields shared by a service's request and
+response (RSL010). RSL004 (missing documentation) and RSL006 (unbounded
+fields) are off by default. Enable rules in `[lint.rules]`, or per run with
+`--rules`, e.g. `--rules RSL004=warn --rules RSL001=off` (a bare `--rules RSL004`
+means `=warn`). `--rules` is repeatable and overrides configuration.
+
+`fmt` formats interface files canonically: a single space between type and
+name, no spaces around a constant's `=`, two spaces before a trailing comment
+and one trailing newline. Comments, blank lines and section separators are kept,
+and so are inline `# roschema: ignore=` suppressions. Formatting is idempotent
+and never changes what `check` reports; `fmt --check` exits `1` if any file
+would change.
+
+## Freeze (baselines without git)
+
+```
+roschema freeze [TARGET] -o roschema.lock
+roschema check  [TARGET] --against roschema.lock
+```
+
+`freeze` writes a lockfile with each interface's canonical (formatted) text and
+its sha256, so a release tarball can carry its own baseline. `check --against
+roschema.lock` verifies the hashes and compares against it.
+
+The lockfile also records the roschema `tool_version`, so upgrading roschema
+changes that one line on the next `freeze` even when the interfaces are the
+same. Comparison ignores it.
+
+## Checking against a recorded bag
+
+```
+roschema bag-check BAG.mcap [TARGETS...] [--level LEVEL] [--config PATH]
+                   [--format text|json|github] [--exit-zero] [--warnings-as-errors]
+                   [--exclude GLOB]
+```
+
+Needs the `bag` extra (`uv tool install 'roschema[bag]'`).
+
+`bag-check` uses the interface definitions recorded in an MCAP bag as the
+baseline and asks whether **current code can still decode the recording**. It
+therefore reports at the `wire` level by default; pass `--level` (or set
+`[check] level`) to include source-level changes such as removed constants.
+
+The bag's types are compared with the packages installed in the sourced
+environment (the ament index), so system packages such as `sensor_msgs` are
+compared with their installed definitions. Optional `TARGETS` (paths or package
+names) replace the installed copy of their packages with your source: a package
+you are editing is checked as it is now, and interfaces you deleted from it are
+reported as removed. If two targets provide the same package, the last one
+wins. A bag type found neither in the environment nor in a target is reported
+as removed (RS040).
+
+Limitations:
+
+- `ros2msg` schemas are fully supported, including the concatenated definitions
+  of dependent types and the `SRV:` blocks recorded for service event topics.
+- `ros2idl` schemas are converted on a best-effort basis for the subset that has
+  a `.msg` equivalent. Other encodings and IDL constructs (enums, unions,
+  typedefs, annotations, inheritance, constants outside structs, `wchar`) are a
+  tool error (exit `2`).
+- Topics recorded without a definition (rosbag2 leaves them empty when it cannot
+  find one) are skipped and named in a note.
+- Two different definitions of the same type in one bag are a tool error.
+  Definitions that differ only in formatting or comments are accepted.
+
+## Configuration
+
+Settings come from `roschema.toml`, or from `[tool.roschema]` in
+`pyproject.toml`. A file at the workspace root applies to every package, and a
+file in a package directory overrides it for that package. Precedence is CLI >
+package > workspace > defaults. roschema looks for the workspace file in the
+target directory and its parents, up to the git repository root (or the
+filesystem root outside git). In each directory, `roschema.toml` takes
+precedence over `pyproject.toml`.
+
+```toml
+[check]
+level = "source"       # wire | source | introspection | behavior
+deep = false           # --deep / --no-deep overrides this
+
+[check.rules]
+RS008 = "off"          # off | warn | error
+
+[check.allow]
+# an intentional break: a fully-qualified target and a mandatory reason
+"my_msgs/msg/State.old_field" = { rules = ["RS001"], reason = "removed in 2.0, see #142" }
+
+[lint.rules]
+RSL004 = "warn"
+```
+
+Unknown keys, unknown rule IDs (or IDs in the wrong section) and invalid values
+are configuration errors (exit `2`), so a misspelt setting cannot silently do
+nothing. Setting a rule's severity does not change which levels are reported,
+except for rules that are off by default (see
+[What gets reported](#what-gets-reported)).
+
+### Suppressing findings
+
+Suppressed findings are counted in the summary but never fail the run.
+
+**Inline:** a trailing comment on the member line in the new version, e.g.
+`float64 theta  # roschema: ignore=RS003`. Separate several IDs with commas.
+This works for lint rules too.
+
+**Allowlist:** an entry in `[check.allow]`, keyed by the finding's target:
+
+```
+<package>/<kind>/<Name>[.<section>][.<member>]
+```
+
+- `<kind>` is `msg`, `srv` or `action`.
+- `<section>` is given for services (`request`, `response`) and actions (`goal`,
+  `result`, `feedback`) only, e.g. `my_srvs/srv/SetMode.request.mode`.
+- Findings about a whole interface or section (RS040 interface removed, RS110,
+  RS004 fields reordered) have no `<member>`, e.g. `my_msgs/msg/Old`.
+
+`reason` is required. `rules` limits the entry to those rule IDs; omit it to
+allow every rule for that target.
+
+## Output
+
+**Text** (the default) starts with what was compared, groups findings by
+package and ends with a summary and a semver advice per package:
+
+- **MAJOR** when the package has a wire- or source-level error;
+- **MINOR** when its only notable change is an added field (RS002) whose
+  severity you lowered to `warn`;
+- **PATCH** otherwise.
+
+The advice only covers reported findings. Additions such as a new interface or
+constant are not findings, so they never raise the advice to MINOR on their own.
+
+**`--format github`** prints what was compared, then emits `::error`/`::warning`
+workflow commands, which GitHub shows as annotations on the PR diff.
+
+**`--format json`** emits a stable document (`version: 1`):
+
+```json
+{
+  "version": 1,
+  "findings": [
+    {
+      "rule": "RS003",
+      "severity": "error",
+      "level": "wire",
+      "package": "my_msgs",
+      "interface": "my_msgs/msg/Pose",
+      "section": "message",
+      "target": "theta",
+      "message": "type changed float32 -> float64",
+      "old": { "file": "my_msgs/msg/Pose.msg", "line": 1 },
+      "new": { "file": "my_msgs/msg/Pose.msg", "line": 1 },
+      "suppressed": false
+    }
+  ],
+  "summary": {
+    "total": 1,
+    "errors": 1,
+    "warnings": 0,
+    "suppressed": 0,
+    "advisories": { "my_msgs": "MAJOR" }
+  },
+  "coverage": {
+    "packages": 1,
+    "compared": 1,
+    "target_only": 0,
+    "baseline_only": 0
+  }
+}
+```
+
+`old`/`new` are `null` when there is no corresponding side (a removed interface
+has no `new`). `coverage` counts interfaces present on both sides (`compared`)
+and on one side only. `lint` output has no `advisories` or `coverage`.
+
+## Exit codes
+
+| Code | `check`, `bag-check`, `lint` | `fmt --check` | Other commands |
+|---|---|---|---|
+| `0` | no unsuppressed errors (warnings allowed) | every file formatted | success |
+| `1` | at least one unsuppressed error | a file would change | n/a |
+| `2` | tool or usage error (bad target, baseline, configuration or file, or an empty baseline) | tool or usage error | tool or usage error |
+
+`--warnings-as-errors` makes unsuppressed warnings exit `1` too. `--exit-zero`
+turns `1` into `0` for `check`, `bag-check` and `lint`; tool errors still exit
+`2`.
+
+## GitHub Action
+
+A composite Action runs `roschema check` on the runner (no setup needed) and
+posts the findings as annotations on the PR diff:
+
+```yaml
+# .github/workflows/interfaces.yml
+on: pull_request
+jobs:
+  interfaces:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0            # needed for the git-ref baseline
+      - uses: justagist/roschema/action@main
+        with:
+          against: origin/${{ github.base_ref }}
+          # version: "roschema==0.3.0"   # pin a release for reproducible results
+          # level: source
+          # deep: "true"
+          # warnings-as-errors: "true"
+          # exclude: "vendor_msgs* legacy_msgs/msg/Old"
+```
+
+| Input | Default | Meaning |
+|---|---|---|
+| `target` | `.` | path, package name or glob, as for the CLI |
+| `against` | `origin/main` | git ref, directory, `.mcap` bag or `roschema.lock` |
+| `level` | (empty) | reporting level; empty uses the configured level, else `source` |
+| `format` | `github` | `text`, `json` or `github` |
+| `deep` | `"false"` | `"true"` adds `--deep` |
+| `allow-empty` | `"false"` | `"true"` adds `--allow-empty` |
+| `warnings-as-errors` | `"false"` | `"true"` adds `--warnings-as-errors` |
+| `exclude` | (empty) | whitespace-separated globs passed as `--exclude` |
+| `version` | `roschema` | the roschema requirement installed with `uvx` |
+
+By default the Action installs the latest roschema release on every run, so new
+rules can change results without any change on your side. Set `version` to pin
+a release instead. A lockfile or directory baseline needs no `fetch-depth: 0`,
+because it is part of the checkout.
+
+## Troubleshooting
+
+**"no breaking changes found", but you expected some.** The line under the
+header says how many interfaces were compared. Run `roschema ls` with the same
+target to see which packages and interfaces are discovered, then check that:
+
+- the packages are not below a `COLCON_IGNORE` or `AMENT_IGNORE` marker;
+- a package-name target did not fall back to the installed copy (the warning
+  says so); run from the directory that contains the source, or pass its path;
+- packages in git submodules were not skipped (the warning names any submodule
+  whose baseline commit is missing; fetch it with `git submodule update`);
+- the change's level is included: a constant change is not reported under
+  `--level wire`, and `bag-check` defaults to `wire`.
+
+**A configuration error names an unknown key.** Each table accepts only the keys
+shown in [Configuration](#configuration); the error suggests the closest one.
+
+## Rule reference
+
+Every rule, its levels, default severity, rationale and an example is
+documented in [docs/rules.md](docs/rules.md), generated from the rule metadata.
+
+## Non-goals
+
+roschema deliberately does **not**:
+
+- generate migration or translation rules;
+- parse ROS 1 `.msg` (md5 semantics differ);
+- parse hand-written `.idl` beyond the MCAP-embedded subset;
+- provide any registry or server component;
+- parse `CMakeLists.txt` for discovery (directory convention + ament index only).
+
+## Relationship to REP-2011 and type hashes
+
+These are complementary layers, not alternatives:
+
+- **roschema** prevents *accidental* breaks at PR time, before anything ships.
+- **RIHS type hashes** (REP-2011) detect a pub/sub *mismatch at runtime* -- after
+  the fact, on the robot.
+- **REP-2011 type-description distribution / translation** mitigates *intentional*
+  evolution by carrying enough information to translate between versions.
+
+roschema is the earliest gate: catch the break in review so the later layers
+never have to.
+
+## Contributing
+
+See [CONTRIBUTING.md](CONTRIBUTING.md) for the development setup, checks and
+release process.