0.9.0

Bump version 0.8.0 -> 0.9.0 (package.xml, conda recipe), update the
docs/API.md server.version example, and add the 0.9.0 CHANGELOG entry
for the size-class-frames / heavy-frame shedding release (PR #9).

The 0.9.0 tag was originally pushed on a commit that still carried the
0.8.0 version, so the built artifacts were mislabeled; this commit
carries the correct version.

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>

Author: facontidavide

CHANGELOG.rst

@@ -2,6 +2,21 @@
 Changelog for package pj_ros_bridge
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.9.0 (2026-07-11)
+------------------
+* Size-class frames: isolate heavy messages (``>= heavy_frame_threshold_bytes``)
+  into their own binary frames so a single large message can no longer stall
+  delivery of small, high-rate topics that would otherwise share a frame.
+* Backpressure shedding: heavy frames are shed before transmit when a slow
+  client's bounded send queue is under pressure, preserving liveness for the
+  remaining topics instead of blocking the publish loop.
+* ``heavy_frame_threshold_bytes`` exposed on all three backends (ROS2 param,
+  RTI/FastDDS ``--heavy-frame-threshold-bytes``); ``0`` disables the split.
+* Wire compatibility preserved: heavy frames are not wire-flagged, keeping the
+  existing PlotJuggler plugin (which rejects non-zero frame flags) compatible.
+* New ``size_class_frames`` capability advertised in the ``get_topics``
+  ``server`` object.
+
 0.8.0 (2026-07-07)
 ------------------
 * Foxglove-parity feature set, closing the gap with foxglove_bridge's

conda.recipe/recipe.yaml

@@ -1,5 +1,5 @@
 context:
-  version: "0.8.0"
+  version: "0.9.0"
 
 package:
   name: pj-bridge-ros2-${{ ros_distro }}

docs/API.md

@@ -97,7 +97,7 @@ fully match any whitelist pattern are omitted from the response entirely (see
 Every `get_topics` response carries a `server` object:
 
 ```json
-{"server": {"name": "pj_bridge", "version": "0.8.0",
+{"server": {"name": "pj_bridge", "version": "0.9.0",
             "capabilities": ["include_schemas", "latched_badge",
                              "latched_replay", "topics_changed",
                              "per_topic_rate_limit", "size_class_frames"]}}

package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>pj_bridge</name>
-  <version>0.8.0</version>
+  <version>0.9.0</version>
   <description>Multi-backend bridge server (ROS2 / RTI DDS) that forwards topic content over WebSocket</description>
   <maintainer email="davide.faconti@gmail.com">davide</maintainer>
   <author email="davide.faconti@gmail.com">davide</author>