ROC - Feature Status

This document tracks ROC feature status at a high level.

Source of truth for command-by-command compatibility:

Legend

Command	Status	Notes
`roc topic`	✅	Native graph + dynamic message tooling
`roc service`	✅/🔄	Native discovery; `call` currently delegates to `ros2`
`roc param`	✅	Native parameter service client
`roc node`	✅	Native graph introspection
`roc action`	✅/🔄	Native discovery; `goal` currently delegates to `ros2`
`roc interface`	✅	Native interface scanning + parsing
`roc frame`	✅	Native TF graph + query + static publish
`roc bag`	✅	Native MCAP record/play + rosbag2 metadata parsing
`roc run`	✅	Native executable discovery + execution
`roc launch`	🔄	Launch file discovery + `ros2 launch` execution
`roc work`	✅	Native workspace management + build system
`roc idl`	✅	Native IDL/protobuf tooling
`roc completion`	✅	Native completion generation
`roc daemon`	🧱	Placeholder
`roc middleware`	🧱	Placeholder

Dynamic topic tools: echo, pub, hz, bw, delay are implemented natively using rclrs dynamic subscriptions/publishers.
TF tooling: subscribes to /tf and /tf_static, builds a TF graph, resolves multi-hop transforms.
Bag tooling: records serialized CDR bytes into MCAP; plays MCAP back to ROS topics.
Workspace tooling: package discovery, dependency resolution, and a native colcon-like builder. Minimal ament_cmake validation is in place; ament_python still has known compatibility gaps.

Replace remaining ros2 wrappers (roc service call, roc action goal, and potentially roc launch).
Improve lifecycle control for long-running commands (graceful ctrl-c, flush/finalize outputs).
Implement real dynamic completions using native graph queries (topics/services/nodes/params).