give the post id and returns the category

endpoint that returns category with post id

<?php
/**
 * Plugin Name:Ali Custom API 
 * Plugin URI:
 * Description: Crushing 
 * Version: 1.0
 * Author: Ali
 * Author URI: 
 */


function get_post_categories( $request ) {
    $post_id = $request['id'];
    $categories = get_the_category( $post_id );

    $data = array();

    foreach ( $categories as $category ) {
        $data[] = array(
            'id' => $category->term_id,
            'name' => $category->name,
        );
    }

    return new WP_REST_Response( $data, 200 );
}
add_action( 'rest_api_init', 'register_custom_endpoints' );

function register_custom_endpoints() {
    register_rest_route( 'myplugin/v1', '/post-categories/(?P<id>\d+)', array(
        'methods' => 'GET',
        'callback' => 'get_post_categories',
    ) );
}