@eyr1n/ros-cdr-client 0.0.1 → 0.0.2

package/dist/src/index.d.ts

@@ -5,14 +5,67 @@ type Branded<T, Brand> = T & {
 export type PublisherId = Branded<number, 'PublisherId'>;
 export type SubscriptionId = Branded<number, 'SubscriptionId'>;
 export type ServiceClientId = Branded<number, 'ServiceClientId'>;
+export declare const QosBaseProfile: {
+    readonly SENSOR_DATA: "SENSOR_DATA";
+    readonly PARAMETERS: "PARAMETERS";
+    readonly DEFAULT: "DEFAULT";
+    readonly SERVICES_DEFAULT: "SERVICES_DEFAULT";
+    readonly PARAMETER_EVENTS: "PARAMETER_EVENTS";
+    readonly SYSTEM_DEFAULT: "SYSTEM_DEFAULT";
+    readonly BEST_AVAILABLE: "BEST_AVAILABLE";
+};
+export type QosBaseProfile = (typeof QosBaseProfile)[keyof typeof QosBaseProfile];
+export declare const QosHistoryPolicy: {
+    readonly SYSTEM_DEFAULT: "SYSTEM_DEFAULT";
+    readonly KEEP_LAST: "KEEP_LAST";
+    readonly KEEP_ALL: "KEEP_ALL";
+};
+export type QosHistoryPolicy = (typeof QosHistoryPolicy)[keyof typeof QosHistoryPolicy];
+export declare const QosReliabilityPolicy: {
+    readonly SYSTEM_DEFAULT: "SYSTEM_DEFAULT";
+    readonly RELIABLE: "RELIABLE";
+    readonly BEST_EFFORT: "BEST_EFFORT";
+    readonly BEST_AVAILABLE: "BEST_AVAILABLE";
+};
+export type QosReliabilityPolicy = (typeof QosReliabilityPolicy)[keyof typeof QosReliabilityPolicy];
+export declare const QosDurabilityPolicy: {
+    readonly SYSTEM_DEFAULT: "SYSTEM_DEFAULT";
+    readonly TRANSIENT_LOCAL: "TRANSIENT_LOCAL";
+    readonly VOLATILE: "VOLATILE";
+    readonly BEST_AVAILABLE: "BEST_AVAILABLE";
+};
+export type QosDurabilityPolicy = (typeof QosDurabilityPolicy)[keyof typeof QosDurabilityPolicy];
+export declare const QosLivelinessPolicy: {
+    readonly SYSTEM_DEFAULT: "SYSTEM_DEFAULT";
+    readonly AUTOMATIC: "AUTOMATIC";
+    readonly MANUAL_BY_TOPIC: "MANUAL_BY_TOPIC";
+    readonly BEST_AVAILABLE: "BEST_AVAILABLE";
+};
+export type QosLivelinessPolicy = (typeof QosLivelinessPolicy)[keyof typeof QosLivelinessPolicy];
+export interface RmwTime {
+    sec: number;
+    nsec: number;
+}
+export interface QosProfile {
+    profile?: QosBaseProfile;
+    history?: QosHistoryPolicy;
+    depth?: number;
+    reliability?: QosReliabilityPolicy;
+    durability?: QosDurabilityPolicy;
+    deadline?: RmwTime;
+    lifespan?: RmwTime;
+    liveliness?: QosLivelinessPolicy;
+    livelinessLeaseDuration?: RmwTime;
+    avoidRosNamespaceConventions?: boolean;
+}
 export declare class RosCdrClient {
     #private;
     constructor(ws: WebSocket);
-    createPublisher(name: string, type: string): Promise<PublisherId>;
-    createSubscription(name: string, type: string, callback: (message: DataView) => void): Promise<SubscriptionId>;
-    createServiceClient(name: string, type: string): Promise<ServiceClientId>;
+    createPublisher(name: string, type: string, qos: QosProfile): Promise<PublisherId>;
+    createSubscription(name: string, type: string, qos: QosProfile, callback: (message: DataView) => void): Promise<SubscriptionId>;
+    createServiceClient(name: string, type: string, qos: QosProfile): Promise<ServiceClientId>;
     publish(id: PublisherId, message: Uint8Array): void;
-    callService(id: ServiceClientId, callId: number, request: Uint8Array): Promise<DataView>;
+    callService(id: ServiceClientId, request: Uint8Array): Promise<DataView>;
     destroy(id: PublisherId | SubscriptionId | ServiceClientId): void;
 }
 export {};

package/dist/src/index.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../src/index.ts"],"names":[],"mappings":"AAAA,QAAA,MAAM,KAAK,eAAW,CAAC;AACvB,KAAK,OAAO,CAAC,CAAC,EAAE,KAAK,IAAI,CAAC,GAAG;IAAE,CAAC,KAAK,CAAC,EAAE,KAAK,CAAA;CAAE,CAAC;AAgBhD,MAAM,MAAM,WAAW,GAAG,OAAO,CAAC,MAAM,EAAE,aAAa,CAAC,CAAC;AACzD,MAAM,MAAM,cAAc,GAAG,OAAO,CAAC,MAAM,EAAE,gBAAgB,CAAC,CAAC;AAC/D,MAAM,MAAM,eAAe,GAAG,OAAO,CAAC,MAAM,EAAE,iBAAiB,CAAC,CAAC;AAEjE,eAAO,MAAM,cAAc;;;;;;;;CAQjB,CAAC;AACX,MAAM,MAAM,cAAc,GACxB,CAAC,OAAO,cAAc,CAAC,CAAC,MAAM,OAAO,cAAc,CAAC,CAAC;AAEvD,eAAO,MAAM,gBAAgB;;;;CAInB,CAAC;AACX,MAAM,MAAM,gBAAgB,GAC1B,CAAC,OAAO,gBAAgB,CAAC,CAAC,MAAM,OAAO,gBAAgB,CAAC,CAAC;AAE3D,eAAO,MAAM,oBAAoB;;;;;CAKvB,CAAC;AACX,MAAM,MAAM,oBAAoB,GAC9B,CAAC,OAAO,oBAAoB,CAAC,CAAC,MAAM,OAAO,oBAAoB,CAAC,CAAC;AAEnE,eAAO,MAAM,mBAAmB;;;;;CAKtB,CAAC;AACX,MAAM,MAAM,mBAAmB,GAC7B,CAAC,OAAO,mBAAmB,CAAC,CAAC,MAAM,OAAO,mBAAmB,CAAC,CAAC;AAEjE,eAAO,MAAM,mBAAmB;;;;;CAKtB,CAAC;AACX,MAAM,MAAM,mBAAmB,GAC7B,CAAC,OAAO,mBAAmB,CAAC,CAAC,MAAM,OAAO,mBAAmB,CAAC,CAAC;AAEjE,MAAM,WAAW,OAAO;IACtB,GAAG,EAAE,MAAM,CAAC;IACZ,IAAI,EAAE,MAAM,CAAC;CACd;AAED,MAAM,WAAW,UAAU;IACzB,OAAO,CAAC,EAAE,cAAc,CAAC;IACzB,OAAO,CAAC,EAAE,gBAAgB,CAAC;IAC3B,KAAK,CAAC,EAAE,MAAM,CAAC;IACf,WAAW,CAAC,EAAE,oBAAoB,CAAC;IACnC,UAAU,CAAC,EAAE,mBAAmB,CAAC;IACjC,QAAQ,CAAC,EAAE,OAAO,CAAC;IACnB,QAAQ,CAAC,EAAE,OAAO,CAAC;IACnB,UAAU,CAAC,EAAE,mBAAmB,CAAC;IACjC,uBAAuB,CAAC,EAAE,OAAO,CAAC;IAClC,4BAA4B,CAAC,EAAE,OAAO,CAAC;CACxC;AAqFD,qBAAa,YAAY;;gBAWX,EAAE,EAAE,SAAS;IAMnB,eAAe,CACnB,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,MAAM,EACZ,GAAG,EAAE,UAAU,GACd,OAAO,CAAC,WAAW,CAAC;IAWjB,kBAAkB,CACtB,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,MAAM,EACZ,GAAG,EAAE,UAAU,EACf,QAAQ,EAAE,CAAC,OAAO,EAAE,QAAQ,KAAK,IAAI,GACpC,OAAO,CAAC,cAAc,CAAC;IAepB,mBAAmB,CACvB,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,MAAM,EACZ,GAAG,EAAE,UAAU,GACd,OAAO,CAAC,eAAe,CAAC;IAW3B,OAAO,CAAC,EAAE,EAAE,WAAW,EAAE,OAAO,EAAE,UAAU;IAS5C,WAAW,CAAC,EAAE,EAAE,eAAe,EAAE,OAAO,EAAE,UAAU,GAAG,OAAO,CAAC,QAAQ,CAAC;IAexE,OAAO,CAAC,EAAE,EAAE,WAAW,GAAG,cAAc,GAAG,eAAe;CA8D3D"}

package/dist/src/index.js

@@ -6,14 +6,38 @@ const OP_DESTROY = 'destroy';
 const OP_TOPIC = 1;
 const OP_SERVICE_REQUEST = 2;
 const OP_SERVICE_RESPONSE = 3;
-function isObject(value) {
-    return value !== null && typeof value === 'object';
-}
-function isCreateOp(value) {
-    return (value === OP_CREATE_PUBLISHER ||
-        value === OP_CREATE_SUBSCRIPTION ||
-        value === OP_CREATE_SERVICE_CLIENT);
-}
+export const QosBaseProfile = {
+    SENSOR_DATA: 'SENSOR_DATA',
+    PARAMETERS: 'PARAMETERS',
+    DEFAULT: 'DEFAULT',
+    SERVICES_DEFAULT: 'SERVICES_DEFAULT',
+    PARAMETER_EVENTS: 'PARAMETER_EVENTS',
+    SYSTEM_DEFAULT: 'SYSTEM_DEFAULT',
+    BEST_AVAILABLE: 'BEST_AVAILABLE',
+};
+export const QosHistoryPolicy = {
+    SYSTEM_DEFAULT: 'SYSTEM_DEFAULT',
+    KEEP_LAST: 'KEEP_LAST',
+    KEEP_ALL: 'KEEP_ALL',
+};
+export const QosReliabilityPolicy = {
+    SYSTEM_DEFAULT: 'SYSTEM_DEFAULT',
+    RELIABLE: 'RELIABLE',
+    BEST_EFFORT: 'BEST_EFFORT',
+    BEST_AVAILABLE: 'BEST_AVAILABLE',
+};
+export const QosDurabilityPolicy = {
+    SYSTEM_DEFAULT: 'SYSTEM_DEFAULT',
+    TRANSIENT_LOCAL: 'TRANSIENT_LOCAL',
+    VOLATILE: 'VOLATILE',
+    BEST_AVAILABLE: 'BEST_AVAILABLE',
+};
+export const QosLivelinessPolicy = {
+    SYSTEM_DEFAULT: 'SYSTEM_DEFAULT',
+    AUTOMATIC: 'AUTOMATIC',
+    MANUAL_BY_TOPIC: 'MANUAL_BY_TOPIC',
+    BEST_AVAILABLE: 'BEST_AVAILABLE',
+};
 function parseTextPayload(payload) {
     let response;
     try {
@@ -22,19 +46,19 @@ function parseTextPayload(payload) {
     catch {
         return null;
     }
-    if (!isObject(response)) {
-        return null;
-    }
-    if (!('op' in response) || !isCreateOp(response.op)) {
+    if (response === null || typeof response !== 'object') {
         return null;
     }
-    if (!('name' in response) || typeof response.name !== 'string') {
+    if (!('id' in response) || typeof response.id !== 'number') {
         return null;
     }
-    if (!('id' in response) || typeof response.id !== 'number') {
+    if (!('callId' in response) || typeof response.callId !== 'number') {
         return null;
     }
-    return { op: response.op, name: response.name, id: response.id };
+    return {
+        id: response.id,
+        callId: response.callId,
+    };
 }
 function parseBinaryPayload(buffer) {
     const view = new DataView(buffer);
@@ -61,34 +85,47 @@ function parseBinaryPayload(buffer) {
     }
     return null;
 }
-function pendingCreateKey(op, name) {
-    return `${op}:${name}`;
-}
-function serviceResponseKey(id, callId) {
-    return `${id}:${callId}`;
-}
 export class RosCdrClient {
     #ws;
     #pendingCreates = new Map();
     #subscriptions = new Map();
     #serviceResponses = new Map();
+    #callId = 0;
     constructor(ws) {
         this.#ws = ws;
         this.#ws.binaryType = 'arraybuffer';
         this.#ws.onmessage = this.#onMessage.bind(this);
     }
-    async createPublisher(name, type) {
-        const request = { op: OP_CREATE_PUBLISHER, name, type };
+    async createPublisher(name, type, qos) {
+        const request = {
+            callId: this.#callId++,
+            op: OP_CREATE_PUBLISHER,
+            name,
+            type,
+            qos,
+        };
         return this.#sendCreateRequest(request);
     }
-    async createSubscription(name, type, callback) {
-        const request = { op: OP_CREATE_SUBSCRIPTION, name, type };
+    async createSubscription(name, type, qos, callback) {
+        const request = {
+            callId: this.#callId++,
+            op: OP_CREATE_SUBSCRIPTION,
+            name,
+            type,
+            qos,
+        };
         const id = await this.#sendCreateRequest(request);
         this.#subscriptions.set(id, callback);
         return id;
     }
-    async createServiceClient(name, type) {
-        const request = { op: OP_CREATE_SERVICE_CLIENT, name, type };
+    async createServiceClient(name, type, qos) {
+        const request = {
+            callId: this.#callId++,
+            op: OP_CREATE_SERVICE_CLIENT,
+            name,
+            type,
+            qos,
+        };
         return this.#sendCreateRequest(request);
     }
     publish(id, message) {
@@ -99,16 +136,16 @@ export class RosCdrClient {
         payload.set(message, 5);
         this.#sendBinaryPayload(payload);
     }
-    callService(id, callId, request) {
+    callService(id, request) {
+        const callId = this.#callId++;
         const payload = new Uint8Array(1 + 4 + 4 + request.length);
         payload[0] = OP_SERVICE_REQUEST;
         const view = new DataView(payload.buffer);
         view.setUint32(1, id, true);
         view.setUint32(5, callId, true);
         payload.set(request, 9);
-        const key = serviceResponseKey(id, callId);
         return new Promise((resolve) => {
-            this.#serviceResponses.set(key, resolve);
+            this.#serviceResponses.set(callId, resolve);
             this.#sendBinaryPayload(payload);
         });
     }
@@ -119,7 +156,7 @@ export class RosCdrClient {
     }
     #sendCreateRequest(request) {
         return new Promise((resolve) => {
-            this.#pendingCreates.set(pendingCreateKey(request.op, request.name), resolve);
+            this.#pendingCreates.set(request.callId, resolve);
             this.#sendTextPayload(request);
         });
     }
@@ -144,10 +181,9 @@ export class RosCdrClient {
         if (!response) {
             return;
         }
-        const key = pendingCreateKey(response.op, response.name);
-        const callback = this.#pendingCreates.get(key);
+        const callback = this.#pendingCreates.get(response.callId);
         if (callback) {
-            this.#pendingCreates.delete(key);
+            this.#pendingCreates.delete(response.callId);
             callback(response.id);
         }
     }
@@ -161,10 +197,9 @@ export class RosCdrClient {
             return;
         }
         if (message.opcode === OP_SERVICE_RESPONSE) {
-            const key = serviceResponseKey(message.id, message.callId);
-            const callback = this.#serviceResponses.get(key);
+            const callback = this.#serviceResponses.get(message.callId);
             if (callback) {
-                this.#serviceResponses.delete(key);
+                this.#serviceResponses.delete(message.callId);
                 callback(message.message);
             }
             return;

package/dist/src/index.js.map

@@ -1 +1 @@
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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@eyr1n/ros-cdr-client",
-  "version": "0.0.1",
+  "version": "0.0.2",
   "type": "module",
   "main": "dist/src/index.js",
   "types": "dist/src/index.d.ts",

package/src/index.ts

@@ -19,16 +19,82 @@ export type PublisherId = Branded<number, 'PublisherId'>;
 export type SubscriptionId = Branded<number, 'SubscriptionId'>;
 export type ServiceClientId = Branded<number, 'ServiceClientId'>;
 
+export const QosBaseProfile = {
+  SENSOR_DATA: 'SENSOR_DATA',
+  PARAMETERS: 'PARAMETERS',
+  DEFAULT: 'DEFAULT',
+  SERVICES_DEFAULT: 'SERVICES_DEFAULT',
+  PARAMETER_EVENTS: 'PARAMETER_EVENTS',
+  SYSTEM_DEFAULT: 'SYSTEM_DEFAULT',
+  BEST_AVAILABLE: 'BEST_AVAILABLE',
+} as const;
+export type QosBaseProfile =
+  (typeof QosBaseProfile)[keyof typeof QosBaseProfile];
+
+export const QosHistoryPolicy = {
+  SYSTEM_DEFAULT: 'SYSTEM_DEFAULT',
+  KEEP_LAST: 'KEEP_LAST',
+  KEEP_ALL: 'KEEP_ALL',
+} as const;
+export type QosHistoryPolicy =
+  (typeof QosHistoryPolicy)[keyof typeof QosHistoryPolicy];
+
+export const QosReliabilityPolicy = {
+  SYSTEM_DEFAULT: 'SYSTEM_DEFAULT',
+  RELIABLE: 'RELIABLE',
+  BEST_EFFORT: 'BEST_EFFORT',
+  BEST_AVAILABLE: 'BEST_AVAILABLE',
+} as const;
+export type QosReliabilityPolicy =
+  (typeof QosReliabilityPolicy)[keyof typeof QosReliabilityPolicy];
+
+export const QosDurabilityPolicy = {
+  SYSTEM_DEFAULT: 'SYSTEM_DEFAULT',
+  TRANSIENT_LOCAL: 'TRANSIENT_LOCAL',
+  VOLATILE: 'VOLATILE',
+  BEST_AVAILABLE: 'BEST_AVAILABLE',
+} as const;
+export type QosDurabilityPolicy =
+  (typeof QosDurabilityPolicy)[keyof typeof QosDurabilityPolicy];
+
+export const QosLivelinessPolicy = {
+  SYSTEM_DEFAULT: 'SYSTEM_DEFAULT',
+  AUTOMATIC: 'AUTOMATIC',
+  MANUAL_BY_TOPIC: 'MANUAL_BY_TOPIC',
+  BEST_AVAILABLE: 'BEST_AVAILABLE',
+} as const;
+export type QosLivelinessPolicy =
+  (typeof QosLivelinessPolicy)[keyof typeof QosLivelinessPolicy];
+
+export interface RmwTime {
+  sec: number;
+  nsec: number;
+}
+
+export interface QosProfile {
+  profile?: QosBaseProfile;
+  history?: QosHistoryPolicy;
+  depth?: number;
+  reliability?: QosReliabilityPolicy;
+  durability?: QosDurabilityPolicy;
+  deadline?: RmwTime;
+  lifespan?: RmwTime;
+  liveliness?: QosLivelinessPolicy;
+  livelinessLeaseDuration?: RmwTime;
+  avoidRosNamespaceConventions?: boolean;
+}
+
 interface CreateRequest {
+  callId: number;
   op: CreateOp;
   name: string;
   type: string;
+  qos: QosProfile;
 }
 
 interface CreateResponse {
-  op: CreateOp;
-  name: string;
   id: number;
+  callId: number;
 }
 
 interface DestroyRequest {
@@ -49,18 +115,6 @@ interface ServiceClientResponse {
   message: DataView;
 }
 
-function isObject(value: unknown): value is object {
-  return value !== null && typeof value === 'object';
-}
-
-function isCreateOp(value: unknown): value is CreateOp {
-  return (
-    value === OP_CREATE_PUBLISHER ||
-    value === OP_CREATE_SUBSCRIPTION ||
-    value === OP_CREATE_SERVICE_CLIENT
-  );
-}
-
 function parseTextPayload(payload: string): CreateResponse | null {
   let response: unknown;
   try {
@@ -68,19 +122,19 @@ function parseTextPayload(payload: string): CreateResponse | null {
   } catch {
     return null;
   }
-  if (!isObject(response)) {
+  if (response === null || typeof response !== 'object') {
     return null;
   }
-  if (!('op' in response) || !isCreateOp(response.op)) {
-    return null;
-  }
-  if (!('name' in response) || typeof response.name !== 'string') {
+  if (!('id' in response) || typeof response.id !== 'number') {
     return null;
   }
-  if (!('id' in response) || typeof response.id !== 'number') {
+  if (!('callId' in response) || typeof response.callId !== 'number') {
     return null;
   }
-  return { op: response.op, name: response.name, id: response.id };
+  return {
+    id: response.id,
+    callId: response.callId,
+  };
 }
 
 function parseBinaryPayload(
@@ -113,23 +167,16 @@ function parseBinaryPayload(
   return null;
 }
 
-function pendingCreateKey(op: CreateOp, name: string): string {
-  return `${op}:${name}`;
-}
-
-function serviceResponseKey(id: number, callId: number): string {
-  return `${id}:${callId}`;
-}
-
 export class RosCdrClient {
   readonly #ws: WebSocket;
 
-  readonly #pendingCreates = new Map<string, (id: number) => void>();
+  readonly #pendingCreates = new Map<number, (id: number) => void>();
   readonly #subscriptions = new Map<
     SubscriptionId,
     (message: DataView) => void
   >();
-  readonly #serviceResponses = new Map<string, (response: DataView) => void>();
+  readonly #serviceResponses = new Map<number, (response: DataView) => void>();
+  #callId = 0;
 
   constructor(ws: WebSocket) {
     this.#ws = ws;
@@ -137,17 +184,34 @@ export class RosCdrClient {
     this.#ws.onmessage = this.#onMessage.bind(this);
   }
 
-  async createPublisher(name: string, type: string): Promise<PublisherId> {
-    const request: CreateRequest = { op: OP_CREATE_PUBLISHER, name, type };
+  async createPublisher(
+    name: string,
+    type: string,
+    qos: QosProfile,
+  ): Promise<PublisherId> {
+    const request: CreateRequest = {
+      callId: this.#callId++,
+      op: OP_CREATE_PUBLISHER,
+      name,
+      type,
+      qos,
+    };
     return this.#sendCreateRequest(request) as Promise<PublisherId>;
   }
 
   async createSubscription(
     name: string,
     type: string,
+    qos: QosProfile,
     callback: (message: DataView) => void,
   ): Promise<SubscriptionId> {
-    const request: CreateRequest = { op: OP_CREATE_SUBSCRIPTION, name, type };
+    const request: CreateRequest = {
+      callId: this.#callId++,
+      op: OP_CREATE_SUBSCRIPTION,
+      name,
+      type,
+      qos,
+    };
     const id = await (this.#sendCreateRequest(
       request,
     ) as Promise<SubscriptionId>);
@@ -158,8 +222,15 @@ export class RosCdrClient {
   async createServiceClient(
     name: string,
     type: string,
+    qos: QosProfile,
   ): Promise<ServiceClientId> {
-    const request: CreateRequest = { op: OP_CREATE_SERVICE_CLIENT, name, type };
+    const request: CreateRequest = {
+      callId: this.#callId++,
+      op: OP_CREATE_SERVICE_CLIENT,
+      name,
+      type,
+      qos,
+    };
     return this.#sendCreateRequest(request) as Promise<ServiceClientId>;
   }
 
@@ -172,11 +243,8 @@ export class RosCdrClient {
     this.#sendBinaryPayload(payload);
   }
 
-  callService(
-    id: ServiceClientId,
-    callId: number,
-    request: Uint8Array,
-  ): Promise<DataView> {
+  callService(id: ServiceClientId, request: Uint8Array): Promise<DataView> {
+    const callId = this.#callId++;
     const payload = new Uint8Array(1 + 4 + 4 + request.length);
     payload[0] = OP_SERVICE_REQUEST;
     const view = new DataView(payload.buffer);
@@ -184,9 +252,8 @@ export class RosCdrClient {
     view.setUint32(5, callId, true);
     payload.set(request, 9);
 
-    const key = serviceResponseKey(id, callId);
     return new Promise((resolve) => {
-      this.#serviceResponses.set(key, resolve);
+      this.#serviceResponses.set(callId, resolve);
       this.#sendBinaryPayload(payload);
     });
   }
@@ -199,10 +266,7 @@ export class RosCdrClient {
 
   #sendCreateRequest(request: CreateRequest): Promise<number> {
     return new Promise((resolve) => {
-      this.#pendingCreates.set(
-        pendingCreateKey(request.op, request.name),
-        resolve,
-      );
+      this.#pendingCreates.set(request.callId, resolve);
       this.#sendTextPayload(request);
     });
   }
@@ -231,10 +295,9 @@ export class RosCdrClient {
     if (!response) {
       return;
     }
-    const key = pendingCreateKey(response.op, response.name);
-    const callback = this.#pendingCreates.get(key);
+    const callback = this.#pendingCreates.get(response.callId);
     if (callback) {
-      this.#pendingCreates.delete(key);
+      this.#pendingCreates.delete(response.callId);
       callback(response.id);
     }
   }
@@ -249,10 +312,9 @@ export class RosCdrClient {
       return;
     }
     if (message.opcode === OP_SERVICE_RESPONSE) {
-      const key = serviceResponseKey(message.id, message.callId);
-      const callback = this.#serviceResponses.get(key);
+      const callback = this.#serviceResponses.get(message.callId);
       if (callback) {
-        this.#serviceResponses.delete(key);
+        this.#serviceResponses.delete(message.callId);
         callback(message.message);
       }
       return;