v0.1.3

Added

• SubscribeOptions.dispatchMode controls how throttle-surviving messages reach the callback. 'immediate' (the default, and the only prior behavior) parses and delivers every surviving message synchronously on the message-handler tick. 'latest-only' delivers only the newest message under back-pressure: superseded messages are dropped before being parsed and delivery is deferred off the message-handler tick, so a high-bandwidth topic like a raw camera stream decodes only the frame you will actually render. The conflation happens upstream of the CDR/JSON decode, which an external wrapper cannot do because it only ever receives already-parsed messages. Available on both Foxglove WS and rosbridge. On a binary (CDR) topic the surviving payload is copied to outlive the deferral, so 'latest-only' is parse-cheap but not allocation-free; on rosbridge the stashed frame is an immutable string and the stash is copy-free. It composes below the throttle (maxFrequency and the adaptive cap decide eligibility, then 'latest-only' keeps the newest of those). A callback that throws is logged and never wedges the subscription; on unsubscribe, disconnect, or a circuit-breaker trip any pending message is dropped rather than delivered.
• materializeBytes(view: Uint8Array): Uint8Array returns an owned, offset-0 copy of a Uint8Array. RosMessage.data, when it is a Uint8Array, is a zero-copy view into the inbound WebSocket frame (v0.1.2); call this before retaining the bytes past the callback or handing them to a native binding that ignores byteOffset (some Skia paths, node-canvas, sharp, FFI). It always copies and never returns the input view, so the result is always safe to retain. This supersedes the v0.1.2 note that anticipated a conditional (skip-when-already-owned) copy: a full-span view can still alias the shared frame buffer, so the conditional form would have skipped the copy in exactly the unsafe case.
• matchesSchema(a: string, b: string): boolean compares two ROS schema names tolerant of the ROS 1 / ROS 2 msg/ (and srv/, action/) asymmetry, so sensor_msgs/msg/Image matches sensor_msgs/Image. It is kind-agnostic: it strips the interface-kind segment and compares pkg + Type. A normalizeSchema counterpart is deliberately not exported, because a 2-part name cannot be safely expanded to canonical 3-part form (the interface kind cannot be inferred from the string).

Changed

• Bundled service-schema lookup now tolerates the 2-part / 3-part name asymmetry. A bridge advertising a well-known system service as rcl_interfaces/ListParameters (without the srv/ segment) now resolves to the bundled schema, so parameter operations and goal cancellation work regardless of which form the bridge reports. Bridge-advertised schemas remain authoritative.