/**
 * Key format used by the Zenoh router / bridge.
 * - rmw_zenoh: ROS2 with Zenoh RMW (domain prefix, slashes → %). Example: 0/%robot-uuid%cmd_vel
 * - ros2dds: zenoh-bridge-ros2dds (no domain prefix, slashes kept). Example: robot-uuid/cmd_vel
 */
export type ZenohKeyFormat = "rmw_zenoh" | "ros2dds";
/**
 * Map ROS 2 topic name to a Zenoh key expression.
 * - rmw_zenoh: topic "/robot-uuid/cmd_vel", domainId 0 → "0/%robot-uuid%cmd_vel"
 * - ros2dds (zenoh-bridge-ros2dds): topic "/robot-uuid/cmd_vel" → "robot-uuid/cmd_vel"
 *   If the bridge sets plugins.ros2dds.namespace to e.g. "/bot1", pass `bridgeNamespace: "/bot1"`
 *   so keys become `bot1/robot-uuid/cmd_vel` (matches ros2_name_to_key_expr).
 */
export declare function rosTopicToZenohKey(topic: string, domainId: number, format?: ZenohKeyFormat, bridgeNamespace?: string): string;
/**
 * Map a Zenoh key expression back to a ROS 2 topic name.
 * - rmw_zenoh: "0/%robot-uuid%cmd_vel" → "/robot-uuid/cmd_vel"
 * - ros2dds: "robot-uuid/cmd_vel" → "/robot-uuid/cmd_vel"
 */
export declare function zenohKeyToRosTopic(key: string, format?: ZenohKeyFormat): string;
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