{
    "@context": {
        "xsd": "http://www.w3.org/2001/XMLSchema#",
        "ros": "https://index.ros.org/p/",

        "ROSPackage": { "@id": "ros:Package" },
        "ROSTopic": { "@id": "ros:Topic" },
        "ROSAction": { "@id": "ros:Action" },
        "ROSService": { "@id": "ros:Service" },
        "TransformListener": { "@id": "ros:TransformListener" },

        "channel-name": { "@id": "ros:channel-name", "@type": "xsd:string" },
        "type-name": { "@id": "ros:type-name", "@type": "xsd:string" },
        "field-path": { "@id": "ros:field-path", "@type": "xsd:string" },
        "reference-frame": { "@id": "ros:reference-frame", "@type": "xsd:string" },

        "HasFrameId": { "@id": "ros:HasFrameId" },
        "frame-id": { "@id": "ros:frame-id", "@type": "xsd:string" },

        "SimulationEntityStateProvider": { "@id": "ros:SimulationEntityStateProvider" }
    }
}