added an initial schema (#196)

* added an initial schema

* changed additional properties

* allow top-level optional elements like transformation

topological_navigation/config/tmap-schema.yaml

@@ -0,0 +1,72 @@
+$schema: http://json-schema.org/draft-07/schema#
+title: Topological Map Schema
+type: object
+required:
+  - meta
+  - metric_map
+  - name
+  - nodes
+  - pointset
+additionalProperties: true
+properties:
+  meta:
+    type: object
+    properties:
+      last_updated:
+        type: string
+        pattern: ^[0-9]{4}-[0-9]{2}-[0-9]{2}_[0-9]{2}-[0-9]{2}-[0-9]{2}$
+    required:
+      - last_updated
+    additionalProperties: true
+  metric_map:
+    type: string
+  name:
+    type: string
+  nodes:
+    type: array
+    items:
+      type: object
+      required:
+        - meta
+        - node
+      properties:
+        meta:
+          type: object
+          required:
+            - map
+            - node
+            - pointset
+          properties:
+            map:
+              type: string
+            node:
+              type: string
+            pointset:
+              type: string
+        node:
+          type: object
+          required:
+            - edges
+            - name
+            - parent_frame
+          additionalProperties: true
+          properties:
+            edges:
+              type: array
+              items:
+                type: object
+                additionalProperties: true
+                required:
+                  - edge_id
+                  - node
+                properties:
+                  edge_id:
+                    type: string
+                  node:
+                    type: string
+            name:
+              type: string
+            parent_frame:
+              type: string
+  pointset:
+    type: string