topicforge 0.8.0__tar.gz → 0.9.0__tar.gz

{topicforge-0.8.0 → topicforge-0.9.0}/CHANGELOG.md

@@ -5,6 +5,85 @@ All notable changes to TopicForge are documented in this file.
 The format is based on [Keep a Changelog 1.1.0](https://keepachangelog.com/en/1.1.0/),
 and this project adheres to [Semantic Versioning 2.0.0](https://semver.org/spec/v2.0.0.html).
 
+## [Unreleased]
+
+## [0.9.0] - 2026-11-02
+
+### Added
+
+- `diagnose`, the seventeenth tool: one bounded sweep of the ROS 2 graph and the DDS bus that
+  answers "is anything wrong". It runs `environment`, `nodes`, `topics`, `dds`, `tf`, `logs` and
+  `responsiveness` (a parameter read per node, the `node` argument first) from the existing
+  services, within `budget_s` (10..40, default 30), and returns findings ranked `critical`,
+  `warning`, `info` with evidence and, for QoS, the `suggested_fixes` of `detect_qos_mismatches`.
+  A check that errors or runs out of budget is listed in `checks_skipped` and the verdict then
+  says the sweep is incomplete: it never reads as an all-clear. It holds the ROS lock for up to
+  `budget_s`. `tools/list` is 99,634 bytes (`diagnose` 4,267) against the 105,000 ceiling. The
+  bench gains `50_diagnose` and `51_diagnose_node` and a comparator section that requires the
+  exact set of seeded findings (`docs/CONTRACT.md` section 9.21).
+
+### Changed
+
+- `tools/list` is 95,391 bytes (-1,924): shorter lane notes, no duplicated "Read-only" phrase,
+  and every output field description at most 120 characters, with a test that keeps it so. The
+  `tools/list` test ceiling moves from 100,000 to 105,000 bytes to make room for `diagnose`
+  (`docs/CONTRACT.md` section 9.20).
+
+### Removed
+
+- The fastdds-based DDS adapter (`adapters/dds_fast/`, 487 lines). It never ran against a bus,
+  and its `fastdds` binding is not on PyPI, so no user could install it. Fast DDS participants
+  are still observed through the `cyclone` backend by standard RTPS discovery, as the CI bench
+  and the OmniSim kit show. `TOPICFORGE_DDS_BACKEND=fast` is now refused at startup with that
+  route, and `auto` only probes `cyclonedds`. `health_check.dds_backend` keeps `fast` in its
+  schema enum but never emits it. `demo-fast.yml` (a C++ Fast DDS publisher seen by Cyclone)
+  stays.
+
+### Fixed
+
+- `detect_qos_mismatches` on a live DDS backend now fills `reader_node` and `writer_node`. 0.8.1
+  built the scan's endpoints without the gid -> node map that `list_endpoints` uses, so both
+  fields stayed `null` on every pair (seen on Fast DDS in the OmniSim kit). Both tools now build
+  their endpoints through one snapshot method. The Docker bench checks the writer node on the
+  scan's pairs (`docs/CONTRACT.md` section 9.19).
+
+## [0.8.1] - 2026-10-26
+
+The 0.8.0 evaluation findings, a URDF read from the robot_state_publisher parameter, an optional
+HTTP bearer token, a Docker image and a SROS2 bench cell. Additive only (`docs/CONTRACT.md`
+section 9.18). `tools/list` is 97,315 bytes (+467).
+
+### Added
+
+- HTTP transport: `TOPICFORGE_HTTP_TOKEN` (at least 32 printable characters, environment only)
+  makes every request carry `Authorization: Bearer <token>`, compared in constant time, else
+  `401`. `--host` may bind an address other than loopback only with a token; such a bind lifts
+  the DNS-rebinding allow-list. Plain HTTP: SECURITY.md says what the token does not cover.
+- `inspect_tf` reads the URDF from the `robot_description` parameter of the node named
+  `robot_state_publisher` when no node publishes `/robot_description`; `urdf_note` names the node.
+- `reader_node` and `writer_node` on `detect_qos_mismatches` reports, `not_matched` and
+  `matched` pairs.
+- A root `Dockerfile`: a stdio image on `ros:jazzy-ros-core` with the `ros2` CLI and Cyclone DDS,
+  non-root. Live graphs need Linux `--network host`; docs/CLIENTS.md has the Docker Desktop
+  limits.
+- Bench: a `sros2` job (`run_bench.py --sros2`) with one node under SROS2 Enforce. Run on jazzy
+  with Cyclone and Fast DDS, 4 of 4 checks in each.
+- Eval harness: `restarts_at_first_call` in the `restart_loop` summary, counted at the agent's
+  first call rather than at `READY`.
+
+### Changed
+
+- `inspect_tf`: an edge with a steady rate silent for over ten of its periods (at least 1 s) is
+  stale even under `stale_after_s`. With the defaults, the evaluation's `tf_stale` read as healthy.
+- `restarts_by_name` leaves out the name `/` that every ROS 2 node shares on Fast DDS; the note
+  points to `restarts_by_node`.
+- `min_log_level` accepts `WARN`, `Error` and `warning`.
+- `detect_qos_mismatches` without `topic` leaves `ros_discovery_info` out, and folds orphan
+  topics into one hint per side instead of one hint each.
+- `param_diff_summary` names the `same` and `live_only` parameters.
+- A filtered `/rosout` read that received nothing says so, instead of mixing the no-match advice
+  with the latched-topic advice.
+
 ## [0.8.0] - 2026-10-21
 
 Graph diff, declared-against-real checks, DDS visibility and a Nav2 prompt. It also carries the
@@ -1864,7 +1943,10 @@ Initial MVP release of TopicForge: ROS Topic Inspector & Bag Analyzer MCP server
 - The write path (publishing, commanding robots) is intentionally out of scope for the MVP.
 - `analyze_bag` in live mode parses `ros2 bag info` text output; deeper anomaly detection remains mock-only for now.
 
-[Unreleased]: https://github.com/yaniswav/TopicForge/compare/v0.7.2...HEAD
+[Unreleased]: https://github.com/yaniswav/TopicForge/compare/v0.9.0...HEAD
+[0.9.0]: https://github.com/yaniswav/TopicForge/compare/v0.8.1...v0.9.0
+[0.8.1]: https://github.com/yaniswav/TopicForge/compare/v0.8.0...v0.8.1
+[0.8.0]: https://github.com/yaniswav/TopicForge/compare/v0.7.2...v0.8.0
 [0.7.2]: https://github.com/yaniswav/TopicForge/compare/v0.7.1...v0.7.2
 [0.7.1]: https://github.com/yaniswav/TopicForge/compare/v0.7.0...v0.7.1
 [0.7.0]: https://github.com/yaniswav/TopicForge/compare/v0.6.4...v0.7.0

{topicforge-0.8.0 → topicforge-0.9.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.5
 Name: topicforge
-Version: 0.8.0
+Version: 0.9.0
 Summary: ROS Topic Inspector & Bag Analyzer MCP server for AI agents
 Project-URL: Homepage, https://github.com/yaniswav/TopicForge
 Project-URL: Repository, https://github.com/yaniswav/TopicForge
@@ -73,7 +73,7 @@ A read-only MCP (Model Context Protocol) server that lets an AI agent inspect a
 
 Every tool also declares itself read-only in the MCP protocol (`readOnlyHint`, `destructiveHint=false`, `idempotentHint`, with an honest `openWorldHint`), and a test fails if any tool lacks it. See [`SECURITY.md`](SECURITY.md#read-only-guarantee-architecture-declaration-proof) for the guarantee and its limits.
 
-It gives the agent sixteen typed tools that return frozen Pydantic schemas (output contract 2: one object per tool, one `note`, units in the field names; see [`docs/CONTRACT.md`](docs/CONTRACT.md)), identical whether the server talks to a real robot or to its built-in mock fixtures. Ask why `nav_planner` gets no scan, and the agent reads the bus, finds the BEST_EFFORT writer facing a RELIABLE reader and names the incompatible policy (see [`examples/02-debug-qos-mismatch.md`](examples/02-debug-qos-mismatch.md)). It is meant for ROS2 developers, robotics ML/CV engineers and teams that cannot accept a write path into a production stack.
+It gives the agent seventeen typed tools that return frozen Pydantic schemas (output contract 2: one object per tool, one `note`, units in the field names; see [`docs/CONTRACT.md`](docs/CONTRACT.md)), identical whether the server talks to a real robot or to its built-in mock fixtures. Ask why `nav_planner` gets no scan, and the agent reads the bus, finds the BEST_EFFORT writer facing a RELIABLE reader and names the incompatible policy (see [`examples/02-debug-qos-mismatch.md`](examples/02-debug-qos-mismatch.md)). It is meant for ROS2 developers, robotics ML/CV engineers and teams that cannot accept a write path into a production stack.
 
 For DDS, TopicForge joins a domain as a read-only participant through one open-source binding (Eclipse CycloneDDS from PyPI) and reads the builtin discovery topics that the OMG DDS-RTPS protocol standardizes. Cyclone DDS, Fast DDS and Dust DDS participants have been observed on live buses: the Fast DDS ones on every CI run of the ROS 2 test bench (Humble and Jazzy with `rmw_fastrtps_cpp`) and in the OmniSim validation. RTI Connext, OpenDDS and CoreDX announce themselves through the same standard discovery, but none of them has been observed yet. This covers discovery only: participants, readers, writers and their QoS. See [`docs/dds-interop-matrix.md`](docs/dds-interop-matrix.md).
 
@@ -101,9 +101,9 @@ The server speaks MCP over stdio and waits for a client, so wire it into one. Fo
 }
 ```
 
-Then ask it to list the topics or to analyze `/tmp/demo.mcap`. For Claude Code: `claude mcp add topicforge -- topicforge`. If the client cannot launch the server (WSL2 to Windows, a robot over an SSH tunnel), `topicforge --transport streamable-http --port 8765` serves `http://127.0.0.1:8765/mcp` on loopback only; see [`docs/CLIENTS.md`](docs/CLIENTS.md#local-http-transport).
+Then ask it to list the topics or to analyze `/tmp/demo.mcap`. For Claude Code: `claude mcp add topicforge -- topicforge`. If the client cannot launch the server (WSL2 to Windows, a robot over an SSH tunnel), `topicforge --transport streamable-http --port 8765` serves `http://127.0.0.1:8765/mcp` on loopback (another `--host` needs a bearer token in `TOPICFORGE_HTTP_TOKEN`); see [`docs/CLIENTS.md`](docs/CLIENTS.md#local-http-transport).
 
-**Other MCP clients.** Ready-to-paste configs for Claude Desktop, Cursor, VS Code, Windsurf, Cline, Roo Code, Continue, Zed, JetBrains, Codex, Gemini CLI, Goose and more are in [`docs/CLIENTS.md`](docs/CLIENTS.md). One-click: [Add to Cursor](https://cursor.com/install-mcp?name=topicforge&config=eyJjb21tYW5kIjoidXZ4IiwiYXJncyI6WyItLWZyb20iLCJ0b3BpY2ZvcmdlPT0wLjguMCIsInRvcGljZm9yZ2UiXSwiZW52Ijp7IlRPUElDRk9SR0VfTU9ERSI6ImF1dG8iLCJUT1BJQ0ZPUkdFX0REU19CQUNLRU5EIjoiY3ljbG9uZSIsIlRPUElDRk9SR0VfRERTX0RPTUFJTl9JRCI6IjAifX0%3D) | [Install in VS Code](https://vscode.dev/redirect/mcp/install?name=topicforge&config=%7B%22command%22%3A%22uvx%22%2C%22args%22%3A%5B%22--from%22%2C%22topicforge%3D%3D0.8.0%22%2C%22topicforge%22%5D%2C%22env%22%3A%7B%22TOPICFORGE_MODE%22%3A%22auto%22%2C%22TOPICFORGE_DDS_BACKEND%22%3A%22cyclone%22%2C%22TOPICFORGE_DDS_DOMAIN_ID%22%3A%220%22%7D%7D).
+**Other MCP clients.** Ready-to-paste configs for Claude Desktop, Cursor, VS Code, Windsurf, Cline, Roo Code, Continue, Zed, JetBrains, Codex, Gemini CLI, Goose and more are in [`docs/CLIENTS.md`](docs/CLIENTS.md). One-click: [Add to Cursor](https://cursor.com/install-mcp?name=topicforge&config=eyJjb21tYW5kIjoidXZ4IiwiYXJncyI6WyItLWZyb20iLCJ0b3BpY2ZvcmdlPT0wLjkuMCIsInRvcGljZm9yZ2UiXSwiZW52Ijp7IlRPUElDRk9SR0VfTU9ERSI6ImF1dG8iLCJUT1BJQ0ZPUkdFX0REU19CQUNLRU5EIjoiY3ljbG9uZSIsIlRPUElDRk9SR0VfRERTX0RPTUFJTl9JRCI6IjAifX0%3D) | [Install in VS Code](https://vscode.dev/redirect/mcp/install?name=topicforge&config=%7B%22command%22%3A%22uvx%22%2C%22args%22%3A%5B%22--from%22%2C%22topicforge%3D%3D0.9.0%22%2C%22topicforge%22%5D%2C%22env%22%3A%7B%22TOPICFORGE_MODE%22%3A%22auto%22%2C%22TOPICFORGE_DDS_BACKEND%22%3A%22cyclone%22%2C%22TOPICFORGE_DDS_DOMAIN_ID%22%3A%220%22%7D%7D).
 
 Setup for a real ROS2 environment (WSL2, Linux, Docker, native Windows) is in [`docs/TESTING.md`](docs/TESTING.md); recurring monitoring prompts and the privacy contract are in [`docs/TUTORIEL.md`](docs/TUTORIEL.md).
 
@@ -120,6 +120,7 @@ Every response except `health_check` carries `mode_effective` (`"live"` or `"moc
 | `get_node_info`         | One node's publishers, subscribers, services, actions, parameters (secrets masked) and `use_sim_time`; a node that does not answer is reported, not an error |
 | `inspect_tf`            | The TF tree from `/tf_static` and `/tf`: roots, stale and two-parent frames, disconnected trees, sim-time-safe ages and rates, optional path between two frames |
 | `graph_diff`            | What changed since it last worked: snapshots the ROS 2 graph (or a bag) and diffs it with `previous`, a `snap-N` id or a bag: nodes, topics, types, writer QoS, counts, bag rates |
+| `diagnose`              | Is anything wrong: one bounded sweep (nodes, topics, QoS pairs, restarts, TF, `/rosout` errors, a parameter read per node) ranked `critical` / `warning` / `info` with evidence; a check that cannot run is listed, never silent. Holds the ROS lock up to `budget_s` |
 | `sample_messages`       | Peek recent messages on a ROS2 topic (count capped at 50)                                        |
 | `analyze_bag`           | Summarize a `.mcap` / `.db3` recording or `rosbag2_*` directory (via `ros2 bag info`)            |
 | `list_participants`     | DDS participants on the domain: vendor, `name` (EntityName QoS, Cyclone) and `hostname`          |
@@ -152,9 +153,9 @@ pip install "topicforge[dds]"                    # alias, kept so older commands
 TOPICFORGE_DDS_BACKEND=cyclone python -m topicforge
 ```
 
-`TOPICFORGE_DDS_BACKEND` accepts `mock` (default), `cyclone`, `fast` and `auto` (`fast`, then `cyclone`, then `mock`, whichever binding imports). The default `mock` selects no DDS backend: installing the Cyclone binding is not enough, you must also set `TOPICFORGE_DDS_BACKEND=cyclone`. With `TOPICFORGE_MODE=live` and no backend selected, the DDS tools raise `DDS module is not active: ...` with the actual cause (backend not selected, binding not installed, or binding installed but the adapter failed to start), and `health_check` reports `dds_backend: "none"` plus `dds_inactive_note`. An explicit value is honoured with or without `ros2` on PATH, in any mode except `mock`. If the binding is missing or the participant cannot start, the server logs a warning naming the cause and falls back to the ROS2 CLI alone, or to the mock fixtures. When both `ros2` and a DDS backend are up, a composite adapter routes the eight `ros2` CLI tools (`list_topics`, `get_topic_info`, `list_nodes`, `get_node_info`, `inspect_tf`, `graph_diff`, `sample_messages`, `analyze_bag`) to the CLI and the six DDS tools to the DDS backend; `peek_bag_samples` reads bags without the CLI.
+`TOPICFORGE_DDS_BACKEND` accepts `mock` (default), `cyclone` and `auto` (`cyclone` if the binding imports, else `mock`). The default `mock` selects no DDS backend: installing the Cyclone binding is not enough, you must also set `TOPICFORGE_DDS_BACKEND=cyclone`. With `TOPICFORGE_MODE=live` and no backend selected, the DDS tools raise `DDS module is not active: ...` with the actual cause (backend not selected, binding not installed, or binding installed but the adapter failed to start), and `health_check` reports `dds_backend: "none"` plus `dds_inactive_note`. An explicit value is honoured with or without `ros2` on PATH, in any mode except `mock`. If the binding is missing or the participant cannot start, the server logs a warning naming the cause and falls back to the ROS2 CLI alone, or to the mock fixtures. When both `ros2` and a DDS backend are up, a composite adapter routes the nine `ros2` CLI tools (`list_topics`, `get_topic_info`, `list_nodes`, `get_node_info`, `inspect_tf`, `graph_diff`, `diagnose`, `sample_messages`, `analyze_bag`) to the CLI and the six DDS tools to the DDS backend; `peek_bag_samples` goes to the ROS half but runs no `ros2` process.
 
-A Fast DDS adapter exists but has never run against a bus, and its `fastdds` Python binding is not on PyPI: build it from eProsima's sources and install it next to TopicForge. There is no `[dds-fast]` extra. Any other value (`rti`, `opensplice`, `coredx`, `intercom`, `opendds`, `dust`) is rejected at startup with an error that lists the valid ones; Cyclone already sees those vendors' participants through standard discovery. Full backend selection, the routing table and the QoS mismatch scenario are in [`docs/DDS_QUICKSTART.md`](docs/DDS_QUICKSTART.md); error messages are in [`docs/TROUBLESHOOTING.md`](docs/TROUBLESHOOTING.md).
+Fast DDS participants (ROS 2 nodes on `rmw_fastrtps_cpp`) need no backend of their own: the Cyclone backend observes them through standard RTPS discovery. Since 0.9.0 `TOPICFORGE_DDS_BACKEND=fast` is refused, like `rti`, `opensplice`, `coredx`, `intercom`, `opendds` and `dust`: startup stops with an error that lists the valid values (see [`docs/TROUBLESHOOTING.md`](docs/TROUBLESHOOTING.md)). Full backend selection, the routing table and the QoS mismatch scenario are in [`docs/DDS_QUICKSTART.md`](docs/DDS_QUICKSTART.md).
 
 ## Configuration reference
 
@@ -164,11 +165,11 @@ A Fast DDS adapter exists but has never run against a bus, and its `fastdds` Pyt
 | `TOPICFORGE_LOG_LEVEL`     | `INFO`  | `DEBUG`, `INFO`, `WARNING`, `ERROR`                                                               |
 | `TOPICFORGE_ROS2_BIN`      | `ros2`  | Name or path of the ROS2 CLI binary                                                               |
 | `TOPICFORGE_TELEMETRY`     | `off`   | Opt-in anonymous telemetry; an unrecognized value aborts startup. See [Telemetry](#telemetry)     |
-| `TOPICFORGE_DDS_BACKEND`   | `mock`  | `mock` (no DDS backend), `cyclone`, `fast`, `auto`; anything else is rejected                      |
+| `TOPICFORGE_DDS_BACKEND`   | `mock`  | `mock` (no DDS backend), `cyclone`, `auto`; anything else is rejected                              |
 | `TOPICFORGE_DDS_DOMAIN_ID` | `0`     | DDS domain observed (0..232). Joined at startup; changing it needs a restart                      |
 | `TOPICFORGE_MAX_SAMPLE_BYTES` | `1048576` | Size cap for one sampled message (1 KiB..64 MiB); a call returns at most 4 times that. Over-cap messages are dropped with a note |
 
-Command-line options (not environment variables): `--transport stdio|streamable-http` (default `stdio`) and `--port N` (default 8765, only with `streamable-http`). The HTTP transport binds `127.0.0.1` only, with DNS-rebinding protection and no authentication; see [docs/CLIENTS.md](docs/CLIENTS.md#local-http-transport).
+Command-line options (not environment variables): `--transport stdio|streamable-http` (default `stdio`), `--port N` (default 8765) and `--host ADDR` (default `127.0.0.1`), the last two only with `streamable-http`. The HTTP transport binds `127.0.0.1` with DNS-rebinding protection; `TOPICFORGE_HTTP_TOKEN` (at least 32 characters) makes every request carry `Authorization: Bearer <token>` and is required for any other `--host` (plain HTTP, so prefer an SSH tunnel); see [docs/CLIENTS.md](docs/CLIENTS.md#local-http-transport).
 
 Samples with comments are in [`.env.example`](.env.example). Any invalid value stops the server with `topicforge: configuration error: ...` and exit code 2, so a typo cannot silently change behaviour.
 
@@ -176,19 +177,18 @@ Samples with comments are in [`.env.example`](.env.example). Any invalid value s
 
 External validation against a simulated robot's ground truth (OmniSim): [docs/VALIDATION.md](docs/VALIDATION.md).
 
-- DDS validation is partial. The Cyclone adapter has run against real buses with Cyclone, Fast DDS and Dust DDS participants, on Windows and in CI on Ubuntu and Windows (`.github/workflows/demo.yml`, `.github/workflows/ros2-live.yml`). The Fast DDS adapter (TopicForge joining through the `fastdds` binding) has never run against a bus, and no RTI, OpenDDS, CoreDX or OpenSplice participant has been observed by this project. The multi-vendor claim rests on the RTPS protocol guarantee, not on a recorded cross-vendor run.
+- DDS validation is partial. The Cyclone adapter has run against real buses with Cyclone, Fast DDS and Dust DDS participants, on Windows and in CI on Ubuntu and Windows (`.github/workflows/demo.yml`, `.github/workflows/ros2-live.yml`). No RTI, OpenDDS, CoreDX or OpenSplice participant has been observed by this project. The multi-vendor claim rests on the RTPS protocol guarantee, not on a recorded cross-vendor run.
 - User-topic payloads are not decoded. `peek_dds_samples` on a user topic returns count 0 and a note that the topic is announced on the bus; no traffic is read. `topic_metrics` therefore has data only for the builtin discovery topics and says so in its `status`. It is a discovery-layer probe, not a publish-rate monitor.
 - Liveliness at runtime is not observed. A writer that is alive but silent (a hung process whose lease is still renewed) looks healthy, because TopicForge reads discovery, not data. An opt-in data probe is planned. A crash and a clean leave cannot be told apart, and `lost_ns` is an upper bound of the death.
 - Cyclone vendor ids: participants that do not follow the RTPS vendor-id convention in their GUID prefix (Dust DDS, and RTI by default) are reported with vendor `unknown`.
 - Single domain: the server observes the domain it joined at startup; changing it needs a restart.
 - DDS Security is not handled. A participant without credentials sees an empty secure bus. `detect_qos_mismatches` checks Partition, type name, Reliability, Durability, Deadline, Liveliness, LatencyBudget, Ownership (kind), DestinationOrder and DataRepresentation (History as a risk); Presentation, XTypes assignability and runtime behavior are not checked, and the result lists them in `policies_unchecked`. It returns a `MismatchScan` envelope: read `reports` for the mismatches.
-- Fast DDS serves no `list_endpoints`.
 - `sample_messages` (live) streams `ros2 topic echo` until `count` messages arrive or `timeout_s` (1..40, default 10, for the whole call) runs out, and returns what arrived with a `note` (`N of M messages within T s`, saying whether a publisher exists). QoS is matched to the publishers, so latched topics work. The payload has nested named fields (`payload.header.stamp.sec`); `timestamp_ns` is `header.stamp` (the publisher's clock, sim time on a simulation), the time in the body of `/clock`, `/tf` and `/rosout` messages (`stamp_source` `payload`), or 0 for other headerless types, with `stamp_source` and `received_ns` (wall clock when the CLI printed it). Arrays are cut at 128 elements by default; `max_array_length` (1..65536, or null for no cut) and `arrays_summary_only` change that, and a cut is listed under `_truncated_fields`. `nan` and `inf` come back as strings. `count` above 50 is capped with a note.
 - `analyze_bag` (live) parses `ros2 bag info` text for the totals and counts; anomaly detection is mock-only. Per-topic times, rates (`(n - 1) / span`) and `latched` are added when the bag can be read locally (`.db3` with the standard library, `.mcap` with `rosbags`), else rates fall back to count / bag duration (`frequency_basis`). `peek_bag_samples` reads the file itself, through `rosbags`, returns the first `count` messages in recording order (not the last), and is served only by the ROS2 CLI adapter or the mock; its `timestamp_ns` is the message's `header.stamp` (`stamp_source` `header`), the body time of `Clock`, `TFMessage` and `Log` messages (`payload`) or, without either, the bag record time (`stamp_source` `recorded`), and `recorded_ns` is always the bag record time; bags that embed no message definitions (Humble `.db3`) are decoded with the Humble definitions, or the distro the bag records, and `note` says so. Without `ros2`, bag tools return fixtures: check `health_check` for `mode: "mock"` before trusting bag output. `health_check` also reports `sim_clock_published` (live only): true when `/clock` has a publisher, a hint that header stamps may be simulation time.
 - Calls are serialized per backend (one `ros2` call at a time, one DDS call at a time) and each call has a 45 s wall budget, lock wait included; a call that cannot get its lane fails at once with `busy`. `health_check` and `peek_bag_samples` take no lock.
 - No streaming or push subscriptions: tools are strictly request/response.
 
-Next: an opt-in probe to tell a hung writer from a healthy one, wider real-bus validation (Fast DDS, RTI, OpenDDS), and DDS Security. Open work is tracked in [issues](https://github.com/yaniswav/TopicForge/issues).
+Not done yet: an opt-in probe to tell a hung writer from a healthy one, wider real-bus validation (RTI, OpenDDS) and DDS Security. Open work is tracked in [issues](https://github.com/yaniswav/TopicForge/issues).
 
 ## Telemetry
 
@@ -204,10 +204,10 @@ When on, each tool call emits one event with exactly six fields:
 
 | Field        | Example         | Notes                                                       |
 | ------------ | --------------- | ----------------------------------------------------------- |
-| `tool_name`  | `"list_topics"` | One of the sixteen tools, never argument values            |
+| `tool_name`  | `"list_topics"` | One of the seventeen tools, never argument values            |
 | `latency_ms` | `12.34`         | Handler wall-clock duration, 2 decimals                     |
 | `mode`       | `"mock"`        | Mode of the adapter actually serving: `mock` or `live`      |
-| `version`    | `"0.8.0"`       | TopicForge server version                                   |
+| `version`    | `"0.9.0"`       | TopicForge server version                                   |
 | `session_id` | `"a1b2c3..."`   | Random UUID per process, never persisted                    |
 | `success`    | `true`          | Whether the handler returned or raised                      |
 
@@ -235,7 +235,7 @@ python -m ruff check src tests
 python -m pytest
 ```
 
-Tests run against the mock adapter, the live adapter's pure parsers and the binding-free DDS helpers; they never need a running ROS graph. Tests needing the `cyclonedds` or `fastdds` binding skip themselves when it is absent, and the `integration` marker (real-bus tests) is deselected by default. The `Makefile` (`make check`) uses POSIX shell syntax; on plain PowerShell run the commands above. See [`CONTRIBUTING.md`](CONTRIBUTING.md).
+Tests run against the mock adapter, the live adapter's pure parsers and the binding-free DDS helpers; they never need a running ROS graph. Tests needing the `cyclonedds` binding skip themselves when it is absent, and the `integration` marker (real-bus tests) is deselected by default. The `Makefile` (`make check`) uses POSIX shell syntax; on plain PowerShell run the commands above. See [`CONTRIBUTING.md`](CONTRIBUTING.md).
 
 ## Upgrading
 
@@ -248,13 +248,13 @@ src/topicforge/
   server/      MCP bootstrap, build_app(settings), prompts and instructions
   tools/       thin MCPServer handlers, no backend logic
   services/    input validation, orchestration, adapter factory
-  adapters/    ros2_live, ros2_mock, dds_cyclone, dds_fast, common/ (binding-free logic)
+  adapters/    ros2_live, ros2_mock, dds_cyclone, common/ (binding-free logic)
   models/      frozen Pydantic schemas, the contract with MCP clients
   config/      settings and mode resolution
   telemetry/   opt-in, off by default
 examples/      mock walkthroughs (*.md) and runnable live DDS examples (dds/)
-scripts/       real-bus interop checks
-docs/          guides, product plan
+scripts/       real-bus interop checks, ground-truth comparator, agent evaluation
+docs/          guides and reference
 tests/         pytest suite, mock-only, no ROS2 or DDS required
 ```
 

{topicforge-0.8.0 → topicforge-0.9.0}/README.md

@@ -12,7 +12,7 @@ A read-only MCP (Model Context Protocol) server that lets an AI agent inspect a
 
 Every tool also declares itself read-only in the MCP protocol (`readOnlyHint`, `destructiveHint=false`, `idempotentHint`, with an honest `openWorldHint`), and a test fails if any tool lacks it. See [`SECURITY.md`](SECURITY.md#read-only-guarantee-architecture-declaration-proof) for the guarantee and its limits.
 
-It gives the agent sixteen typed tools that return frozen Pydantic schemas (output contract 2: one object per tool, one `note`, units in the field names; see [`docs/CONTRACT.md`](docs/CONTRACT.md)), identical whether the server talks to a real robot or to its built-in mock fixtures. Ask why `nav_planner` gets no scan, and the agent reads the bus, finds the BEST_EFFORT writer facing a RELIABLE reader and names the incompatible policy (see [`examples/02-debug-qos-mismatch.md`](examples/02-debug-qos-mismatch.md)). It is meant for ROS2 developers, robotics ML/CV engineers and teams that cannot accept a write path into a production stack.
+It gives the agent seventeen typed tools that return frozen Pydantic schemas (output contract 2: one object per tool, one `note`, units in the field names; see [`docs/CONTRACT.md`](docs/CONTRACT.md)), identical whether the server talks to a real robot or to its built-in mock fixtures. Ask why `nav_planner` gets no scan, and the agent reads the bus, finds the BEST_EFFORT writer facing a RELIABLE reader and names the incompatible policy (see [`examples/02-debug-qos-mismatch.md`](examples/02-debug-qos-mismatch.md)). It is meant for ROS2 developers, robotics ML/CV engineers and teams that cannot accept a write path into a production stack.
 
 For DDS, TopicForge joins a domain as a read-only participant through one open-source binding (Eclipse CycloneDDS from PyPI) and reads the builtin discovery topics that the OMG DDS-RTPS protocol standardizes. Cyclone DDS, Fast DDS and Dust DDS participants have been observed on live buses: the Fast DDS ones on every CI run of the ROS 2 test bench (Humble and Jazzy with `rmw_fastrtps_cpp`) and in the OmniSim validation. RTI Connext, OpenDDS and CoreDX announce themselves through the same standard discovery, but none of them has been observed yet. This covers discovery only: participants, readers, writers and their QoS. See [`docs/dds-interop-matrix.md`](docs/dds-interop-matrix.md).
 
@@ -40,9 +40,9 @@ The server speaks MCP over stdio and waits for a client, so wire it into one. Fo
 }
 ```
 
-Then ask it to list the topics or to analyze `/tmp/demo.mcap`. For Claude Code: `claude mcp add topicforge -- topicforge`. If the client cannot launch the server (WSL2 to Windows, a robot over an SSH tunnel), `topicforge --transport streamable-http --port 8765` serves `http://127.0.0.1:8765/mcp` on loopback only; see [`docs/CLIENTS.md`](docs/CLIENTS.md#local-http-transport).
+Then ask it to list the topics or to analyze `/tmp/demo.mcap`. For Claude Code: `claude mcp add topicforge -- topicforge`. If the client cannot launch the server (WSL2 to Windows, a robot over an SSH tunnel), `topicforge --transport streamable-http --port 8765` serves `http://127.0.0.1:8765/mcp` on loopback (another `--host` needs a bearer token in `TOPICFORGE_HTTP_TOKEN`); see [`docs/CLIENTS.md`](docs/CLIENTS.md#local-http-transport).
 
-**Other MCP clients.** Ready-to-paste configs for Claude Desktop, Cursor, VS Code, Windsurf, Cline, Roo Code, Continue, Zed, JetBrains, Codex, Gemini CLI, Goose and more are in [`docs/CLIENTS.md`](docs/CLIENTS.md). One-click: [Add to Cursor](https://cursor.com/install-mcp?name=topicforge&config=eyJjb21tYW5kIjoidXZ4IiwiYXJncyI6WyItLWZyb20iLCJ0b3BpY2ZvcmdlPT0wLjguMCIsInRvcGljZm9yZ2UiXSwiZW52Ijp7IlRPUElDRk9SR0VfTU9ERSI6ImF1dG8iLCJUT1BJQ0ZPUkdFX0REU19CQUNLRU5EIjoiY3ljbG9uZSIsIlRPUElDRk9SR0VfRERTX0RPTUFJTl9JRCI6IjAifX0%3D) | [Install in VS Code](https://vscode.dev/redirect/mcp/install?name=topicforge&config=%7B%22command%22%3A%22uvx%22%2C%22args%22%3A%5B%22--from%22%2C%22topicforge%3D%3D0.8.0%22%2C%22topicforge%22%5D%2C%22env%22%3A%7B%22TOPICFORGE_MODE%22%3A%22auto%22%2C%22TOPICFORGE_DDS_BACKEND%22%3A%22cyclone%22%2C%22TOPICFORGE_DDS_DOMAIN_ID%22%3A%220%22%7D%7D).
+**Other MCP clients.** Ready-to-paste configs for Claude Desktop, Cursor, VS Code, Windsurf, Cline, Roo Code, Continue, Zed, JetBrains, Codex, Gemini CLI, Goose and more are in [`docs/CLIENTS.md`](docs/CLIENTS.md). One-click: [Add to Cursor](https://cursor.com/install-mcp?name=topicforge&config=eyJjb21tYW5kIjoidXZ4IiwiYXJncyI6WyItLWZyb20iLCJ0b3BpY2ZvcmdlPT0wLjkuMCIsInRvcGljZm9yZ2UiXSwiZW52Ijp7IlRPUElDRk9SR0VfTU9ERSI6ImF1dG8iLCJUT1BJQ0ZPUkdFX0REU19CQUNLRU5EIjoiY3ljbG9uZSIsIlRPUElDRk9SR0VfRERTX0RPTUFJTl9JRCI6IjAifX0%3D) | [Install in VS Code](https://vscode.dev/redirect/mcp/install?name=topicforge&config=%7B%22command%22%3A%22uvx%22%2C%22args%22%3A%5B%22--from%22%2C%22topicforge%3D%3D0.9.0%22%2C%22topicforge%22%5D%2C%22env%22%3A%7B%22TOPICFORGE_MODE%22%3A%22auto%22%2C%22TOPICFORGE_DDS_BACKEND%22%3A%22cyclone%22%2C%22TOPICFORGE_DDS_DOMAIN_ID%22%3A%220%22%7D%7D).
 
 Setup for a real ROS2 environment (WSL2, Linux, Docker, native Windows) is in [`docs/TESTING.md`](docs/TESTING.md); recurring monitoring prompts and the privacy contract are in [`docs/TUTORIEL.md`](docs/TUTORIEL.md).
 
@@ -59,6 +59,7 @@ Every response except `health_check` carries `mode_effective` (`"live"` or `"moc
 | `get_node_info`         | One node's publishers, subscribers, services, actions, parameters (secrets masked) and `use_sim_time`; a node that does not answer is reported, not an error |
 | `inspect_tf`            | The TF tree from `/tf_static` and `/tf`: roots, stale and two-parent frames, disconnected trees, sim-time-safe ages and rates, optional path between two frames |
 | `graph_diff`            | What changed since it last worked: snapshots the ROS 2 graph (or a bag) and diffs it with `previous`, a `snap-N` id or a bag: nodes, topics, types, writer QoS, counts, bag rates |
+| `diagnose`              | Is anything wrong: one bounded sweep (nodes, topics, QoS pairs, restarts, TF, `/rosout` errors, a parameter read per node) ranked `critical` / `warning` / `info` with evidence; a check that cannot run is listed, never silent. Holds the ROS lock up to `budget_s` |
 | `sample_messages`       | Peek recent messages on a ROS2 topic (count capped at 50)                                        |
 | `analyze_bag`           | Summarize a `.mcap` / `.db3` recording or `rosbag2_*` directory (via `ros2 bag info`)            |
 | `list_participants`     | DDS participants on the domain: vendor, `name` (EntityName QoS, Cyclone) and `hostname`          |
@@ -91,9 +92,9 @@ pip install "topicforge[dds]"                    # alias, kept so older commands
 TOPICFORGE_DDS_BACKEND=cyclone python -m topicforge
 ```
 
-`TOPICFORGE_DDS_BACKEND` accepts `mock` (default), `cyclone`, `fast` and `auto` (`fast`, then `cyclone`, then `mock`, whichever binding imports). The default `mock` selects no DDS backend: installing the Cyclone binding is not enough, you must also set `TOPICFORGE_DDS_BACKEND=cyclone`. With `TOPICFORGE_MODE=live` and no backend selected, the DDS tools raise `DDS module is not active: ...` with the actual cause (backend not selected, binding not installed, or binding installed but the adapter failed to start), and `health_check` reports `dds_backend: "none"` plus `dds_inactive_note`. An explicit value is honoured with or without `ros2` on PATH, in any mode except `mock`. If the binding is missing or the participant cannot start, the server logs a warning naming the cause and falls back to the ROS2 CLI alone, or to the mock fixtures. When both `ros2` and a DDS backend are up, a composite adapter routes the eight `ros2` CLI tools (`list_topics`, `get_topic_info`, `list_nodes`, `get_node_info`, `inspect_tf`, `graph_diff`, `sample_messages`, `analyze_bag`) to the CLI and the six DDS tools to the DDS backend; `peek_bag_samples` reads bags without the CLI.
+`TOPICFORGE_DDS_BACKEND` accepts `mock` (default), `cyclone` and `auto` (`cyclone` if the binding imports, else `mock`). The default `mock` selects no DDS backend: installing the Cyclone binding is not enough, you must also set `TOPICFORGE_DDS_BACKEND=cyclone`. With `TOPICFORGE_MODE=live` and no backend selected, the DDS tools raise `DDS module is not active: ...` with the actual cause (backend not selected, binding not installed, or binding installed but the adapter failed to start), and `health_check` reports `dds_backend: "none"` plus `dds_inactive_note`. An explicit value is honoured with or without `ros2` on PATH, in any mode except `mock`. If the binding is missing or the participant cannot start, the server logs a warning naming the cause and falls back to the ROS2 CLI alone, or to the mock fixtures. When both `ros2` and a DDS backend are up, a composite adapter routes the nine `ros2` CLI tools (`list_topics`, `get_topic_info`, `list_nodes`, `get_node_info`, `inspect_tf`, `graph_diff`, `diagnose`, `sample_messages`, `analyze_bag`) to the CLI and the six DDS tools to the DDS backend; `peek_bag_samples` goes to the ROS half but runs no `ros2` process.
 
-A Fast DDS adapter exists but has never run against a bus, and its `fastdds` Python binding is not on PyPI: build it from eProsima's sources and install it next to TopicForge. There is no `[dds-fast]` extra. Any other value (`rti`, `opensplice`, `coredx`, `intercom`, `opendds`, `dust`) is rejected at startup with an error that lists the valid ones; Cyclone already sees those vendors' participants through standard discovery. Full backend selection, the routing table and the QoS mismatch scenario are in [`docs/DDS_QUICKSTART.md`](docs/DDS_QUICKSTART.md); error messages are in [`docs/TROUBLESHOOTING.md`](docs/TROUBLESHOOTING.md).
+Fast DDS participants (ROS 2 nodes on `rmw_fastrtps_cpp`) need no backend of their own: the Cyclone backend observes them through standard RTPS discovery. Since 0.9.0 `TOPICFORGE_DDS_BACKEND=fast` is refused, like `rti`, `opensplice`, `coredx`, `intercom`, `opendds` and `dust`: startup stops with an error that lists the valid values (see [`docs/TROUBLESHOOTING.md`](docs/TROUBLESHOOTING.md)). Full backend selection, the routing table and the QoS mismatch scenario are in [`docs/DDS_QUICKSTART.md`](docs/DDS_QUICKSTART.md).
 
 ## Configuration reference
 
@@ -103,11 +104,11 @@ A Fast DDS adapter exists but has never run against a bus, and its `fastdds` Pyt
 | `TOPICFORGE_LOG_LEVEL`     | `INFO`  | `DEBUG`, `INFO`, `WARNING`, `ERROR`                                                               |
 | `TOPICFORGE_ROS2_BIN`      | `ros2`  | Name or path of the ROS2 CLI binary                                                               |
 | `TOPICFORGE_TELEMETRY`     | `off`   | Opt-in anonymous telemetry; an unrecognized value aborts startup. See [Telemetry](#telemetry)     |
-| `TOPICFORGE_DDS_BACKEND`   | `mock`  | `mock` (no DDS backend), `cyclone`, `fast`, `auto`; anything else is rejected                      |
+| `TOPICFORGE_DDS_BACKEND`   | `mock`  | `mock` (no DDS backend), `cyclone`, `auto`; anything else is rejected                              |
 | `TOPICFORGE_DDS_DOMAIN_ID` | `0`     | DDS domain observed (0..232). Joined at startup; changing it needs a restart                      |
 | `TOPICFORGE_MAX_SAMPLE_BYTES` | `1048576` | Size cap for one sampled message (1 KiB..64 MiB); a call returns at most 4 times that. Over-cap messages are dropped with a note |
 
-Command-line options (not environment variables): `--transport stdio|streamable-http` (default `stdio`) and `--port N` (default 8765, only with `streamable-http`). The HTTP transport binds `127.0.0.1` only, with DNS-rebinding protection and no authentication; see [docs/CLIENTS.md](docs/CLIENTS.md#local-http-transport).
+Command-line options (not environment variables): `--transport stdio|streamable-http` (default `stdio`), `--port N` (default 8765) and `--host ADDR` (default `127.0.0.1`), the last two only with `streamable-http`. The HTTP transport binds `127.0.0.1` with DNS-rebinding protection; `TOPICFORGE_HTTP_TOKEN` (at least 32 characters) makes every request carry `Authorization: Bearer <token>` and is required for any other `--host` (plain HTTP, so prefer an SSH tunnel); see [docs/CLIENTS.md](docs/CLIENTS.md#local-http-transport).
 
 Samples with comments are in [`.env.example`](.env.example). Any invalid value stops the server with `topicforge: configuration error: ...` and exit code 2, so a typo cannot silently change behaviour.
 
@@ -115,19 +116,18 @@ Samples with comments are in [`.env.example`](.env.example). Any invalid value s
 
 External validation against a simulated robot's ground truth (OmniSim): [docs/VALIDATION.md](docs/VALIDATION.md).
 
-- DDS validation is partial. The Cyclone adapter has run against real buses with Cyclone, Fast DDS and Dust DDS participants, on Windows and in CI on Ubuntu and Windows (`.github/workflows/demo.yml`, `.github/workflows/ros2-live.yml`). The Fast DDS adapter (TopicForge joining through the `fastdds` binding) has never run against a bus, and no RTI, OpenDDS, CoreDX or OpenSplice participant has been observed by this project. The multi-vendor claim rests on the RTPS protocol guarantee, not on a recorded cross-vendor run.
+- DDS validation is partial. The Cyclone adapter has run against real buses with Cyclone, Fast DDS and Dust DDS participants, on Windows and in CI on Ubuntu and Windows (`.github/workflows/demo.yml`, `.github/workflows/ros2-live.yml`). No RTI, OpenDDS, CoreDX or OpenSplice participant has been observed by this project. The multi-vendor claim rests on the RTPS protocol guarantee, not on a recorded cross-vendor run.
 - User-topic payloads are not decoded. `peek_dds_samples` on a user topic returns count 0 and a note that the topic is announced on the bus; no traffic is read. `topic_metrics` therefore has data only for the builtin discovery topics and says so in its `status`. It is a discovery-layer probe, not a publish-rate monitor.
 - Liveliness at runtime is not observed. A writer that is alive but silent (a hung process whose lease is still renewed) looks healthy, because TopicForge reads discovery, not data. An opt-in data probe is planned. A crash and a clean leave cannot be told apart, and `lost_ns` is an upper bound of the death.
 - Cyclone vendor ids: participants that do not follow the RTPS vendor-id convention in their GUID prefix (Dust DDS, and RTI by default) are reported with vendor `unknown`.
 - Single domain: the server observes the domain it joined at startup; changing it needs a restart.
 - DDS Security is not handled. A participant without credentials sees an empty secure bus. `detect_qos_mismatches` checks Partition, type name, Reliability, Durability, Deadline, Liveliness, LatencyBudget, Ownership (kind), DestinationOrder and DataRepresentation (History as a risk); Presentation, XTypes assignability and runtime behavior are not checked, and the result lists them in `policies_unchecked`. It returns a `MismatchScan` envelope: read `reports` for the mismatches.
-- Fast DDS serves no `list_endpoints`.
 - `sample_messages` (live) streams `ros2 topic echo` until `count` messages arrive or `timeout_s` (1..40, default 10, for the whole call) runs out, and returns what arrived with a `note` (`N of M messages within T s`, saying whether a publisher exists). QoS is matched to the publishers, so latched topics work. The payload has nested named fields (`payload.header.stamp.sec`); `timestamp_ns` is `header.stamp` (the publisher's clock, sim time on a simulation), the time in the body of `/clock`, `/tf` and `/rosout` messages (`stamp_source` `payload`), or 0 for other headerless types, with `stamp_source` and `received_ns` (wall clock when the CLI printed it). Arrays are cut at 128 elements by default; `max_array_length` (1..65536, or null for no cut) and `arrays_summary_only` change that, and a cut is listed under `_truncated_fields`. `nan` and `inf` come back as strings. `count` above 50 is capped with a note.
 - `analyze_bag` (live) parses `ros2 bag info` text for the totals and counts; anomaly detection is mock-only. Per-topic times, rates (`(n - 1) / span`) and `latched` are added when the bag can be read locally (`.db3` with the standard library, `.mcap` with `rosbags`), else rates fall back to count / bag duration (`frequency_basis`). `peek_bag_samples` reads the file itself, through `rosbags`, returns the first `count` messages in recording order (not the last), and is served only by the ROS2 CLI adapter or the mock; its `timestamp_ns` is the message's `header.stamp` (`stamp_source` `header`), the body time of `Clock`, `TFMessage` and `Log` messages (`payload`) or, without either, the bag record time (`stamp_source` `recorded`), and `recorded_ns` is always the bag record time; bags that embed no message definitions (Humble `.db3`) are decoded with the Humble definitions, or the distro the bag records, and `note` says so. Without `ros2`, bag tools return fixtures: check `health_check` for `mode: "mock"` before trusting bag output. `health_check` also reports `sim_clock_published` (live only): true when `/clock` has a publisher, a hint that header stamps may be simulation time.
 - Calls are serialized per backend (one `ros2` call at a time, one DDS call at a time) and each call has a 45 s wall budget, lock wait included; a call that cannot get its lane fails at once with `busy`. `health_check` and `peek_bag_samples` take no lock.
 - No streaming or push subscriptions: tools are strictly request/response.
 
-Next: an opt-in probe to tell a hung writer from a healthy one, wider real-bus validation (Fast DDS, RTI, OpenDDS), and DDS Security. Open work is tracked in [issues](https://github.com/yaniswav/TopicForge/issues).
+Not done yet: an opt-in probe to tell a hung writer from a healthy one, wider real-bus validation (RTI, OpenDDS) and DDS Security. Open work is tracked in [issues](https://github.com/yaniswav/TopicForge/issues).
 
 ## Telemetry
 
@@ -143,10 +143,10 @@ When on, each tool call emits one event with exactly six fields:
 
 | Field        | Example         | Notes                                                       |
 | ------------ | --------------- | ----------------------------------------------------------- |
-| `tool_name`  | `"list_topics"` | One of the sixteen tools, never argument values            |
+| `tool_name`  | `"list_topics"` | One of the seventeen tools, never argument values            |
 | `latency_ms` | `12.34`         | Handler wall-clock duration, 2 decimals                     |
 | `mode`       | `"mock"`        | Mode of the adapter actually serving: `mock` or `live`      |
-| `version`    | `"0.8.0"`       | TopicForge server version                                   |
+| `version`    | `"0.9.0"`       | TopicForge server version                                   |
 | `session_id` | `"a1b2c3..."`   | Random UUID per process, never persisted                    |
 | `success`    | `true`          | Whether the handler returned or raised                      |
 
@@ -174,7 +174,7 @@ python -m ruff check src tests
 python -m pytest
 ```
 
-Tests run against the mock adapter, the live adapter's pure parsers and the binding-free DDS helpers; they never need a running ROS graph. Tests needing the `cyclonedds` or `fastdds` binding skip themselves when it is absent, and the `integration` marker (real-bus tests) is deselected by default. The `Makefile` (`make check`) uses POSIX shell syntax; on plain PowerShell run the commands above. See [`CONTRIBUTING.md`](CONTRIBUTING.md).
+Tests run against the mock adapter, the live adapter's pure parsers and the binding-free DDS helpers; they never need a running ROS graph. Tests needing the `cyclonedds` binding skip themselves when it is absent, and the `integration` marker (real-bus tests) is deselected by default. The `Makefile` (`make check`) uses POSIX shell syntax; on plain PowerShell run the commands above. See [`CONTRIBUTING.md`](CONTRIBUTING.md).
 
 ## Upgrading
 
@@ -187,13 +187,13 @@ src/topicforge/
   server/      MCP bootstrap, build_app(settings), prompts and instructions
   tools/       thin MCPServer handlers, no backend logic
   services/    input validation, orchestration, adapter factory
-  adapters/    ros2_live, ros2_mock, dds_cyclone, dds_fast, common/ (binding-free logic)
+  adapters/    ros2_live, ros2_mock, dds_cyclone, common/ (binding-free logic)
   models/      frozen Pydantic schemas, the contract with MCP clients
   config/      settings and mode resolution
   telemetry/   opt-in, off by default
 examples/      mock walkthroughs (*.md) and runnable live DDS examples (dds/)
-scripts/       real-bus interop checks
-docs/          guides, product plan
+scripts/       real-bus interop checks, ground-truth comparator, agent evaluation
+docs/          guides and reference
 tests/         pytest suite, mock-only, no ROS2 or DDS required
 ```
 

{topicforge-0.8.0 → topicforge-0.9.0}/docs/CLIENTS.md

@@ -6,7 +6,7 @@ TopicForge (ROS 2 / DDS) is a local, read-only MCP server that speaks stdio.
 Every client below launches it as a child process with the same command:
 
 ```
-uvx --from "topicforge==0.8.0" topicforge
+uvx --from "topicforge==0.9.0" topicforge
 ```
 
 and the same three environment variables:
@@ -21,7 +21,7 @@ The registry name is `io.github.yaniswav/topicforge`. Where a client asks for a
 display name, use **TopicForge (ROS 2 / DDS)**: an unrelated SEO product is also
 called TopicForge in the MCP registries.
 
-The version pin (`==0.8.0`) is moved on every release together with the other
+The version pin (`==0.9.0`) is moved on every release together with the other
 version strings; a test keeps them in sync.
 
 ## Before you start
@@ -44,7 +44,7 @@ version strings; a test keeps them in sync.
   `"--from"` in the args. To build the binding yourself, install the Cyclone C library and
   run `pip install "topicforge[dds]"`. The `[dds]` and `[dds-cyclone]` extras still work
   as aliases, so older commands keep installing.
-- **pip alternative.** `pip install "topicforge==0.8.0"`, then use
+- **pip alternative.** `pip install "topicforge==0.9.0"`, then use
   `"command": "topicforge"` (or `"command": "python", "args": ["-m", "topicforge"]`)
   with no `args` for uvx. Use the absolute path of the binary if the client does
   not see your venv.
@@ -72,7 +72,7 @@ say where the file lives and what differs.
   "mcpServers": {
     "topicforge": {
       "command": "uvx",
-      "args": ["--from", "topicforge==0.8.0", "topicforge"],
+      "args": ["--from", "topicforge==0.9.0", "topicforge"],
       "env": {
         "TOPICFORGE_MODE": "auto",
         "TOPICFORGE_DDS_BACKEND": "cyclone",
@@ -95,7 +95,7 @@ claude plugin install topicforge@topicforge
 Or just the server:
 
 ```
-claude mcp add topicforge --env TOPICFORGE_MODE=auto --env TOPICFORGE_DDS_BACKEND=cyclone --env TOPICFORGE_DDS_DOMAIN_ID=0 -- uvx --from "topicforge==0.8.0" topicforge
+claude mcp add topicforge --env TOPICFORGE_MODE=auto --env TOPICFORGE_DDS_BACKEND=cyclone --env TOPICFORGE_DDS_DOMAIN_ID=0 -- uvx --from "topicforge==0.9.0" topicforge
 ```
 
 ## Claude Desktop
@@ -112,9 +112,9 @@ the common JSON shape above and restart the app completely. On Windows, if
 
 The one-click links in this page and in the README are https redirects, because GitHub and PyPI strip `cursor://` and `vscode:` links. Only the raw schemes are documented by Cursor and VS Code; the https forms (`cursor.com/install-mcp`, `vscode.dev/redirect/mcp/install`) were observed to redirect correctly on 2026-10-06 but are not in the vendors' docs (unverified, last checked 2026-10-06). The raw links are given as a fallback.
 
-One click: [Add TopicForge to Cursor](https://cursor.com/install-mcp?name=topicforge&config=eyJjb21tYW5kIjoidXZ4IiwiYXJncyI6WyItLWZyb20iLCJ0b3BpY2ZvcmdlPT0wLjguMCIsInRvcGljZm9yZ2UiXSwiZW52Ijp7IlRPUElDRk9SR0VfTU9ERSI6ImF1dG8iLCJUT1BJQ0ZPUkdFX0REU19CQUNLRU5EIjoiY3ljbG9uZSIsIlRPUElDRk9SR0VfRERTX0RPTUFJTl9JRCI6IjAifX0%3D)
+One click: [Add TopicForge to Cursor](https://cursor.com/install-mcp?name=topicforge&config=eyJjb21tYW5kIjoidXZ4IiwiYXJncyI6WyItLWZyb20iLCJ0b3BpY2ZvcmdlPT0wLjkuMCIsInRvcGljZm9yZ2UiXSwiZW52Ijp7IlRPUElDRk9SR0VfTU9ERSI6ImF1dG8iLCJUT1BJQ0ZPUkdFX0REU19CQUNLRU5EIjoiY3ljbG9uZSIsIlRPUElDRk9SR0VfRERTX0RPTUFJTl9JRCI6IjAifX0%3D)
 
-If that page does not open Cursor, use the raw deeplink: `cursor://anysphere.cursor-deeplink/mcp/install?name=topicforge&config=eyJjb21tYW5kIjoidXZ4IiwiYXJncyI6WyItLWZyb20iLCJ0b3BpY2ZvcmdlPT0wLjguMCIsInRvcGljZm9yZ2UiXSwiZW52Ijp7IlRPUElDRk9SR0VfTU9ERSI6ImF1dG8iLCJUT1BJQ0ZPUkdFX0REU19CQUNLRU5EIjoiY3ljbG9uZSIsIlRPUElDRk9SR0VfRERTX0RPTUFJTl9JRCI6IjAifX0%3D`
+If that page does not open Cursor, use the raw deeplink: `cursor://anysphere.cursor-deeplink/mcp/install?name=topicforge&config=eyJjb21tYW5kIjoidXZ4IiwiYXJncyI6WyItLWZyb20iLCJ0b3BpY2ZvcmdlPT0wLjkuMCIsInRvcGljZm9yZ2UiXSwiZW52Ijp7IlRPUElDRk9SR0VfTU9ERSI6ImF1dG8iLCJUT1BJQ0ZPUkdFX0REU19CQUNLRU5EIjoiY3ljbG9uZSIsIlRPUElDRk9SR0VfRERTX0RPTUFJTl9JRCI6IjAifX0%3D`
 
 Or paste the common JSON shape into `~/.cursor/mcp.json` (all projects) or
 `.cursor/mcp.json` (one project).
@@ -125,9 +125,9 @@ The `plugin/` folder of this repository is also an [Agent Plugins](https://agent
 
 ## VS Code / GitHub Copilot
 
-One click: [Install in VS Code](https://vscode.dev/redirect/mcp/install?name=topicforge&config=%7B%22command%22%3A%22uvx%22%2C%22args%22%3A%5B%22--from%22%2C%22topicforge%3D%3D0.8.0%22%2C%22topicforge%22%5D%2C%22env%22%3A%7B%22TOPICFORGE_MODE%22%3A%22auto%22%2C%22TOPICFORGE_DDS_BACKEND%22%3A%22cyclone%22%2C%22TOPICFORGE_DDS_DOMAIN_ID%22%3A%220%22%7D%7D)
+One click: [Install in VS Code](https://vscode.dev/redirect/mcp/install?name=topicforge&config=%7B%22command%22%3A%22uvx%22%2C%22args%22%3A%5B%22--from%22%2C%22topicforge%3D%3D0.9.0%22%2C%22topicforge%22%5D%2C%22env%22%3A%7B%22TOPICFORGE_MODE%22%3A%22auto%22%2C%22TOPICFORGE_DDS_BACKEND%22%3A%22cyclone%22%2C%22TOPICFORGE_DDS_DOMAIN_ID%22%3A%220%22%7D%7D)
 
-Fallback, the raw URL handler: `vscode:mcp/install?%7B%22name%22%3A%22topicforge%22%2C%22command%22%3A%22uvx%22%2C%22args%22%3A%5B%22--from%22%2C%22topicforge%3D%3D0.8.0%22%2C%22topicforge%22%5D%2C%22env%22%3A%7B%22TOPICFORGE_MODE%22%3A%22auto%22%2C%22TOPICFORGE_DDS_BACKEND%22%3A%22cyclone%22%2C%22TOPICFORGE_DDS_DOMAIN_ID%22%3A%220%22%7D%7D`
+Fallback, the raw URL handler: `vscode:mcp/install?%7B%22name%22%3A%22topicforge%22%2C%22command%22%3A%22uvx%22%2C%22args%22%3A%5B%22--from%22%2C%22topicforge%3D%3D0.9.0%22%2C%22topicforge%22%5D%2C%22env%22%3A%7B%22TOPICFORGE_MODE%22%3A%22auto%22%2C%22TOPICFORGE_DDS_BACKEND%22%3A%22cyclone%22%2C%22TOPICFORGE_DDS_DOMAIN_ID%22%3A%220%22%7D%7D`
 
 Or put this in `.vscode/mcp.json` (the key is `servers`, not `mcpServers`), or run
 "MCP: Add Server" from the Command Palette:
@@ -138,7 +138,7 @@ Or put this in `.vscode/mcp.json` (the key is `servers`, not `mcpServers`), or r
     "topicforge": {
       "type": "stdio",
       "command": "uvx",
-      "args": ["--from", "topicforge==0.8.0", "topicforge"],
+      "args": ["--from", "topicforge==0.9.0", "topicforge"],
       "env": {
         "TOPICFORGE_MODE": "auto",
         "TOPICFORGE_DDS_BACKEND": "cyclone",
@@ -167,7 +167,7 @@ Servers", and paste the common JSON shape (the file is
 Project file `.roo/mcp.json` (takes precedence) or the global `mcp_settings.json`
 opened from the MCP view. Paste the common JSON shape. Roo's docs say Windows
 needs a `cmd /c` wrapper for `npx`; for `uvx`, try it directly first and fall back
-to `"command": "cmd", "args": ["/c", "uvx", "--from", "topicforge==0.8.0",
+to `"command": "cmd", "args": ["/c", "uvx", "--from", "topicforge==0.9.0",
 "topicforge"]` if it fails to start.
 
 ## Continue
@@ -184,7 +184,7 @@ mcpServers:
     command: uvx
     args:
       - "--from"
-      - "topicforge==0.8.0"
+      - "topicforge==0.9.0"
       - "topicforge"
     env:
       TOPICFORGE_MODE: auto
@@ -201,7 +201,7 @@ In `settings.json`, under `context_servers`:
   "context_servers": {
     "topicforge": {
       "command": "uvx",
-      "args": ["--from", "topicforge==0.8.0", "topicforge"],
+      "args": ["--from", "topicforge==0.9.0", "topicforge"],
       "env": {
         "TOPICFORGE_MODE": "auto",
         "TOPICFORGE_DDS_BACKEND": "cyclone",
@@ -227,7 +227,7 @@ run with the dds extra can exceed, so set it to 60 s:
 ```toml
 [mcp_servers.topicforge]
 command = "uvx"
-args = ["--from", "topicforge==0.8.0", "topicforge"]
+args = ["--from", "topicforge==0.9.0", "topicforge"]
 startup_timeout_sec = 60
 
 [mcp_servers.topicforge.env]
@@ -258,7 +258,7 @@ extensions:
     name: TopicForge (ROS 2 / DDS)
     type: stdio
     cmd: uvx
-    args: [--from, "topicforge==0.8.0", topicforge]
+    args: [--from, "topicforge==0.9.0", topicforge]
     enabled: true
     envs: { "TOPICFORGE_MODE": "auto", "TOPICFORGE_DDS_BACKEND": "cyclone", "TOPICFORGE_DDS_DOMAIN_ID": "0" }
     timeout: 300
@@ -269,7 +269,7 @@ extensions:
 Program tab > Install > Edit `mcp.json` (same notation as Cursor), then paste the
 common JSON shape. LM Studio's docs only show remote examples; local command
 servers follow the Cursor notation but are not documented explicitly. Small
-local models may struggle with sixteen tools.
+local models may struggle with seventeen tools.
 
 ## Amazon Q Developer / Kiro
 
@@ -297,11 +297,52 @@ The endpoint is `http://127.0.0.1:8765/mcp`. Two cases it is meant for:
 - A robot: run it on the robot, then `ssh -L 8765:127.0.0.1:8765 robot` and use the same URL
   on your laptop.
 
-Threat model: the server has no authentication, so anything that can reach the port can read
-your robot graph. It therefore binds `127.0.0.1` only (there is no flag to change that) and
-rejects any request whose `Host` or `Origin` is not a loopback name with the served port, which
-stops a web page in your browser from reaching it through DNS rebinding. Do not forward the
-port to a network interface; use an SSH tunnel instead.
+Threat model: without a token the server has no authentication, so anything that can reach the
+port can read your robot graph. It therefore binds `127.0.0.1` by default and rejects any
+request whose `Host` or `Origin` is not a loopback name with the served port, which stops a web
+page in your browser from reaching it through DNS rebinding. Do not forward the port to a
+network interface; use an SSH tunnel instead.
+
+Bearer token (0.8.1). Set `TOPICFORGE_HTTP_TOKEN` to a secret of at least 32 printable
+characters (for example `openssl rand -hex 32`) and every request must then carry
+`Authorization: Bearer <token>`; a request without it gets `401`. The token is read from the
+environment only, never from a flag. Only with a token may `--host` name another address:
+
+```
+TOPICFORGE_HTTP_TOKEN=... topicforge --transport streamable-http --host 0.0.0.0 --port 8765
+```
+
+This is plain HTTP: the token and every answer cross the network in clear, so keep it to a
+network you trust, or put a TLS reverse proxy in front. The SSH tunnel above remains the safer
+way to reach a robot. Clients that support HTTP headers in their MCP config (Claude Code's
+`--header`, VS Code's `headers`, Cursor's `headers`) pass the token there.
+
+## Docker
+
+The repository's `Dockerfile` builds a stdio image on ROS 2 Jazzy (`ros:jazzy-ros-core`, the
+`ros2` CLI and Cyclone DDS included, a non-root user):
+
+```
+docker build -t topicforge .
+```
+
+Point a client at `docker` instead of `uvx`:
+
+```json
+{ "command": "docker", "args": ["run", "-i", "--rm", "topicforge"] }
+```
+
+What the container can see depends on its network:
+
+- Linux with `--network host` (and the robot's `ROS_DOMAIN_ID`, e.g. `-e ROS_DOMAIN_ID=0`):
+  the live graph, as a local install would.
+- Docker Desktop on Windows or macOS: the container does not see the host's DDS traffic. The
+  `ros2` CLI is in the image, so `auto` still picks live mode and finds an empty graph (only
+  `/rosout` and `/parameter_events`). Use it for bags, mounted with
+  `-v /path/to/bags:/bags:ro` (then ask about `/bags/run.mcap`), or for the demo robot with
+  `-e TOPICFORGE_MODE=mock`.
+
+The image is about 1 GB (ROS 2 Jazzy core plus Cyclone DDS).
 
 ## Prompts and instructions
 
@@ -326,7 +367,7 @@ when the question matches.
 
 ## Troubleshooting
 
-- Run the command by hand first: `uvx --from "topicforge==0.8.0" topicforge --version`.
+- Run the command by hand first: `uvx --from "topicforge==0.9.0" topicforge --version`.
 - Server starts but sees no DDS participants: check the domain id, and that the
   client machine is on the same network as the robot (DDS discovery uses
   multicast UDP). Ask the assistant to call `health_check`.