rclnodejs 0.21.2 → 0.21.4

package/.github/workflows/linux-build-and-test-compatibility.yml

@@ -1,3 +1,5 @@
+name:  rclnodejs - Linux Build & Compatibility Test
+
 on:
   workflow_dispatch:
 
@@ -14,7 +16,7 @@ jobs:
 
     steps:
     - name: Setup ROS2
-      uses: ros-tooling/setup-ros@v0.3
+      uses: ros-tooling/setup-ros@v0.4
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}
 
@@ -39,14 +41,14 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        node-version: [10.X, 12.x, 14.X, 16.X, 17.X]
+        node-version: [10.X, 12.x, 14.X, 16.X, 17.X, 18.X, 19.X]
         ros_distribution:
           - foxy
           - galactic
 
     steps:
     - name: Setup ROS2
-      uses: ros-tooling/setup-ros@v0.3
+      uses: ros-tooling/setup-ros@v0.4
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}
 

package/.github/workflows/linux-build-and-test.yml

@@ -26,7 +26,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        node-version: [10.X, 12.X, 14.X, 16.11.X, 17.X]
+        node-version: [10.X, 12.X, 14.X, 16.11.X, 17.X, 18.X, 19.X]
     steps:
     - name: Setup Node.js ${{ matrix.node-version }}
       uses: actions/setup-node@v2
@@ -34,7 +34,7 @@ jobs:
         node-version: ${{ matrix.node-version }}
 
     - name: Setup ROS2
-      uses: ros-tooling/setup-ros@v0.3
+      uses: ros-tooling/setup-ros@v0.4
       with:
         required-ros-distributions: ${{ needs.identify-ros-distro.outputs.distro }}
 

package/.github/workflows/windows-build-and-test-compatibility.yml

@@ -1,5 +1,5 @@
 
-name:  rclnodejs - Windows Build & Test Compatibility
+name:  rclnodejs - Windows Build & Compatibility Test
 
 on:
   workflow_dispatch:
@@ -10,9 +10,9 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        node-version: [10.X, 12.X, 14.X, 16.11.X, 17.X]
+        node-version: [10.X, 12.X, 14.X, 16.11.X, 17.X, 18.X, 19.X]
         ros_distribution:
-          - foxy
+          # - foxy
           - galactic
           - humble
           - rolling
@@ -23,7 +23,7 @@ jobs:
         node-version: ${{ matrix.node-version }}
 
     - name: Setup ROS2
-      uses: ros-tooling/setup-ros@v0.3
+      uses: ros-tooling/setup-ros@v0.4
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}
 
@@ -48,5 +48,5 @@ jobs:
     - name: Test rclnodejs
       shell: cmd
       run: |
-        call "c:\dev\${{ needs.identify-ros-distro.outputs.distro }}\ros2-windows\setup.bat"
+        call "c:\dev\${{ matrix.ros_distribution }}\ros2-windows\setup.bat"
         npm test

package/.github/workflows/windows-build-and-test.yml

@@ -26,7 +26,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        node-version: [10.X, 12.X, 14.X, 16.11.X, 17.X]
+        node-version: [10.X, 12.X, 14.X, 16.11.X, 17.X, 18.X, 19.X]
     steps:
     - name: Setup Node.js ${{ matrix.node-version }}
       uses: actions/setup-node@v2
@@ -34,7 +34,7 @@ jobs:
         node-version: ${{ matrix.node-version }}
 
     - name: Setup ROS2
-      uses: ros-tooling/setup-ros@v0.3
+      uses: ros-tooling/setup-ros@v0.4
       with:
         required-ros-distributions: ${{ needs.identify-ros-distro.outputs.distro }}
 

package/CONTRIBUTORS.md

@@ -1,6 +1,11 @@
 rclnodejs contributors (sorted alphabetically)
 ==============================================
 
+* **[Alaa El Jawad](https://github.com/ejalaa12), [Ian McElroy](https://github.com/imcelroy)**
+  - Fix compatibility with ROS2 parameters array types
+  - Unit tests for all parameter types
+  - Handle concurrent ROS2 client calls, with unit tests
+
 * **[Alex Mikhalev](https://github.com/amikhalev)**
   * Fix build for AMENT_PREFIX_PATH with multiple entries
 
@@ -13,7 +18,7 @@ rclnodejs contributors (sorted alphabetically)
   * Benchmark test script
 
 * **[Kenny Yuan](https://github.com/kenny-y)**
-  * Message features: JS generation, typed arrays, plain JS object, compound msgs, many others... 
+  * Message features: JS generation, typed arrays, plain JS object, compound msgs, many others...
   * npm publish scripts
   * Mac support
 
@@ -47,4 +52,3 @@ rclnodejs contributors (sorted alphabetically)
   * ROS2 lifecycle node
   * Rate class
   * Node class hierarchy
-

package/README.md

@@ -45,7 +45,7 @@ npm i rclnodejs@x.y.z
 
 |                                                            RCLNODEJS Version                                                            |                                                                                                                                                                     Compatible ROS 2 Release                                                                                                                                                                     |
 | :-------------------------------------------------------------------------------------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
-| [0.21.2 (current)](https://www.npmjs.com/package/rclnodejs/v/0.21.2) ([API](http://robotwebtools.org/rclnodejs/docs/0.21.0/index.html)) | [Humble Hawksbill](https://github.com/ros2/ros2/releases/tag/release-humble-20220523)<br>[Galactic Geochelone](https://github.com/ros2/ros2/releases/tag/release-galactic-20210716)<br>[Foxy Fitzroy](https://github.com/ros2/ros2/releases/tag/release-foxy-20201211)<br>[Eloquent Elusor](https://github.com/ros2/ros2/releases/tag/release-eloquent-20200124) |
+| [0.21.4 (current)](https://www.npmjs.com/package/rclnodejs/v/0.21.4) ([API](http://robotwebtools.org/rclnodejs/docs/0.21.3/index.html)) | [Humble Hawksbill](https://github.com/ros2/ros2/releases/tag/release-humble-20220523)<br>[Galactic Geochelone](https://github.com/ros2/ros2/releases/tag/release-galactic-20210716)<br>[Foxy Fitzroy](https://github.com/ros2/ros2/releases/tag/release-foxy-20201211)<br>[Eloquent Elusor](https://github.com/ros2/ros2/releases/tag/release-eloquent-20200124) |
 |                                [0.10.3](https://github.com/RobotWebTools/rclnodejs/releases/tag/0.10.3)                                 |                                                                                                                                [Dashing Diademata - Patch 4](https://github.com/ros2/ros2/releases/tag/release-dashing-20191018)                                                                                                                                 |
 
 ## Documentation

package/binding.gyp

@@ -59,7 +59,7 @@
               'OS_LINUX'
             ],
             'cflags_cc': [
-              '-std=c++14'
+              '-std=c++17'
             ],
             'include_dirs': 
             [
@@ -100,7 +100,7 @@
               'OS_WINDOWS'
             ],
             'cflags_cc': [
-              '-std=c++14'
+              '-std=c++17'
             ],
             'include_dirs': [
               './src/third_party/dlfcn-win32/',
@@ -156,7 +156,7 @@
               'GCC_ENABLE_CPP_EXCEPTIONS': 'YES',
               'CLANG_CXX_LIBRARY': 'libc++',
               'MACOS_DEPLOYMENT_TARGET': '10.12',
-              'CLANG_CXX_LANGUAGE_STANDARD': 'c++14'
+              'CLANG_CXX_LANGUAGE_STANDARD': 'c++17'
             }
           }
         ],

package/index.js

@@ -42,6 +42,7 @@ const validator = require('./lib/validator.js');
 const Time = require('./lib/time.js');
 const ActionClient = require('./lib/action/client.js');
 const ActionServer = require('./lib/action/server.js');
+const ActionUuid = require('./lib/action/uuid.js');
 const ClientGoalHandle = require('./lib/action/client_goal_handle.js');
 const { CancelResponse, GoalResponse } = require('./lib/action/response.js');
 const ServerGoalHandle = require('./lib/action/server_goal_handle.js');
@@ -80,13 +81,13 @@ async function getCurrentGeneratorVersion() {
   });
 }
 
+let _rosVersionChecked = false;
+
 /**
  * A module that exposes the rclnodejs interfaces.
  * @exports rclnodejs
  */
 let rcl = {
-  _rosVersionChecked: false,
-
   /** {@link Clock} class */
   Clock: Clock,
 
@@ -150,6 +151,9 @@ let rcl = {
   /** {@link ActionServer} class */
   ActionServer: ActionServer,
 
+  /** {@link ActionUuid} class */
+  ActionUuid: ActionUuid,
+
   /** {@link ClientGoalHandle} class */
   ClientGoalHandle: ClientGoalHandle,
 
@@ -245,7 +249,7 @@ let rcl = {
 
     rclnodejs.init(context.handle, argv);
 
-    if (this._rosVersionChecked) {
+    if (_rosVersionChecked) {
       // no further processing required
       return;
     }
@@ -262,7 +266,7 @@ let rcl = {
 
     await generator.generateAll(forced);
     // TODO determine if tsd generateAll() should be here
-    this._rosVersionChecked = true;
+    _rosVersionChecked = true;
   },
 
   /**

package/lib/action/client.js

@@ -100,7 +100,7 @@ class ActionClient extends Entity {
       );
 
       if (goalHandle.accepted) {
-        let uuid = ActionUuid.fromBytes(goalHandle.goalId.uuid).toString();
+        let uuid = ActionUuid.fromMessage(goalHandle.goalId).toString();
         if (this._goalHandles.has(uuid)) {
           throw new Error(`Two goals were accepted with the same ID (${uuid})`);
         }
@@ -150,7 +150,7 @@ class ActionClient extends Entity {
   }
 
   processFeedbackMessage(message) {
-    let uuid = ActionUuid.fromBytes(message.goal_id.uuid).toString();
+    let uuid = ActionUuid.fromMessage(message.goal_id).toString();
     if (this._feedbackCallbacks.has(uuid)) {
       this._feedbackCallbacks.get(uuid)(
         message.toPlainObject(this.typedArrayEnabled).feedback
@@ -161,8 +161,8 @@ class ActionClient extends Entity {
   processStatusMessage(message) {
     // Update the status of all goal handles maintained by this Action Client
     for (const statusMessage of message.status_list.data) {
-      let uuid = ActionUuid.fromBytes(
-        statusMessage.goal_info.goal_id.uuid
+      let uuid = ActionUuid.fromMessage(
+        statusMessage.goal_info.goal_id
       ).toString();
       let status = statusMessage.status;
 
@@ -200,7 +200,7 @@ class ActionClient extends Entity {
    */
   sendGoal(goal, feedbackCallback, goalUuid) {
     let request = new this._typeClass.impl.SendGoalService.Request();
-    request['goal_id'] = goalUuid || this._createRandomUuid();
+    request['goal_id'] = goalUuid || ActionUuid.randomMessage();
     request.goal = goal;
 
     let sequenceNumber = rclnodejs.actionSendGoalRequest(
@@ -215,7 +215,7 @@ class ActionClient extends Entity {
     }
 
     if (feedbackCallback) {
-      let uuid = ActionUuid.fromBytes(request.goal_id.uuid).toString();
+      let uuid = ActionUuid.fromMessage(request.goal_id).toString();
       this._feedbackCallbacks.set(uuid, feedbackCallback);
     }
 
@@ -345,20 +345,6 @@ class ActionClient extends Entity {
     return deferred.promise;
   }
 
-  /**
-   * Creates a new random UUID message.
-   * @ignore
-   * @returns {object} - The new UUID message.
-   */
-  _createRandomUuid() {
-    let uuid = ActionUuid.random();
-
-    let uuidMsg = new ActionInterfaces.UUID();
-    uuidMsg.uuid = uuid.bytes;
-
-    return uuidMsg;
-  }
-
   _removePendingGoalRequest(sequenceNumber) {
     this._pendingGoalRequests.delete(sequenceNumber);
     this._sequenceNumberGoalIdMap.delete(sequenceNumber);

package/lib/action/server.js

@@ -190,7 +190,7 @@ class ActionServer extends Entity {
    *
    * The purpose of the cancel callback is to decide if a request to cancel an on-going
    * (or queued) goal should be accepted or rejected.
-   * The callback should take one parameter containing the cancel request and must return a
+   * The callback should take one parameter containing the cancel request (a goal handle) and must return a
    * {@link CancelResponse} value.
    *
    * There can only be one cancel callback per {@link ActionServer}, therefore calling this

package/lib/action/uuid.js

@@ -14,13 +14,13 @@
 
 'use strict';
 
+const ActionInterfaces = require('./interfaces.js');
 const { v4: uuidv4 } = require('uuid');
 
 /**
  * @class - Represents a unique identifier used by actions.
  * @ignore
  */
-
 class ActionUuid {
   /**
    * Creates a new instance of ActionUuid.
@@ -73,6 +73,33 @@ class ActionUuid {
   toString() {
     return [].slice.call(this._bytes).join(',');
   }
+
+  /**
+   * Create an instance from a ROS2 UUID message
+   * @param {unique_identifier_msgs.msg.UUID} msg - The ROS2 UUID message
+   * @returns {ActionUuid} - The new instance.
+   */
+  static fromMessage(msg) {
+    return ActionUuid.fromBytes(msg.uuid);
+  }
+
+  /**
+   * Create a ROS2 UUID message from this instance.
+   * @returns {unique_identifier_msgs.msg.UUID} - The new ROS2 UUID message
+   */
+  toMessage() {
+    const uuidMsg = new ActionInterfaces.UUID();
+    uuidMsg.uuid = this.bytes;
+    return uuidMsg;
+  }
+
+  /**
+   * Create a ROS2 UUID message with random uuid data
+   * @returns {ActionUuid} - The new instance.
+   */
+  static randomMessage() {
+    return ActionUuid.random().toMessage();
+  }
 }
 
 module.exports = ActionUuid;

package/lib/interface_loader.js

@@ -114,7 +114,7 @@ let interfaceLoader = {
       }
     }
     throw new Error(
-      `The message required does not exist: ${packageName}, ${type}, ${messageName}`
+      `The message required does not exist: ${packageName}, ${type}, ${messageName} at ${generator.generatedRoot}`
     );
   },
 };

package/lib/node.js

@@ -1293,7 +1293,7 @@ class Node extends rclnodejs.ShadowNode {
    * @return {ParameterDescriptor[]} - The parameter descriptors.
    */
   getParameterDescriptors(names = []) {
-    const descriptors = [];
+    let descriptors = [];
 
     if (names.length == 0) {
       // get all parameters

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rclnodejs",
-  "version": "0.21.2",
+  "version": "0.21.4",
   "description": "ROS2.0 JavaScript client with Node.js",
   "main": "index.js",
   "types": "types/index.d.ts",
@@ -89,6 +89,6 @@
     ]
   },
   "engines": {
-    "node": ">= 10.23.1 <18.0.0"
+    "node": ">= 10.23.1 <20.0.0"
   }
 }

package/scripts/npmjs-readme.md

@@ -45,7 +45,7 @@ npm i rclnodejs@x.y.z
 
 |                                                            RCLNODEJS Version                                                            |                                                                                                                                                                     Compatible ROS 2 Release                                                                                                                                                                     |
 | :-------------------------------------------------------------------------------------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
-| [0.21.2 (current)](https://www.npmjs.com/package/rclnodejs/v/0.21.2) ([API](http://robotwebtools.org/rclnodejs/docs/0.21.0/index.html)) | [Humble Hawksbill](https://github.com/ros2/ros2/releases/tag/release-humble-20220523)<br>[Galactic Geochelone](https://github.com/ros2/ros2/releases/tag/release-galactic-20210716)<br>[Foxy Fitzroy](https://github.com/ros2/ros2/releases/tag/release-foxy-20201211)<br>[Eloquent Elusor](https://github.com/ros2/ros2/releases/tag/release-eloquent-20200124) |
+| [0.21.4 (current)](https://www.npmjs.com/package/rclnodejs/v/0.21.4) ([API](http://robotwebtools.org/rclnodejs/docs/0.21.3/index.html)) | [Humble Hawksbill](https://github.com/ros2/ros2/releases/tag/release-humble-20220523)<br>[Galactic Geochelone](https://github.com/ros2/ros2/releases/tag/release-galactic-20210716)<br>[Foxy Fitzroy](https://github.com/ros2/ros2/releases/tag/release-foxy-20201211)<br>[Eloquent Elusor](https://github.com/ros2/ros2/releases/tag/release-eloquent-20200124) |
 |                                [0.10.3](https://github.com/RobotWebTools/rclnodejs/releases/tag/0.10.3)                                 |                                                                                                                                [Dashing Diademata - Patch 4](https://github.com/ros2/ros2/releases/tag/release-dashing-20191018)                                                                                                                                 |
 
 ## Documentation

package/types/action_server.d.ts

@@ -84,7 +84,9 @@ declare module 'rclnodejs' {
   type HandleAcceptedCallback<T extends TypeClass<ActionTypeClassName>> = (
     goalHandle: ServerGoalHandle<T>
   ) => void;
-  type CancelCallback = () => Promise<CancelResponse> | CancelResponse;
+  type CancelCallback<T extends TypeClass<ActionTypeClassName>> = (
+    goalHandle?: ServerGoalHandle<T>
+  ) => Promise<CancelResponse> | CancelResponse;
 
   interface ActionServerOptions extends Options<ActionQoS> {
     /**
@@ -116,7 +118,7 @@ declare module 'rclnodejs' {
       executeCallback: ExecuteCallback<T>,
       goalCallback?: GoalCallback<T>,
       handleAcceptedCallback?: HandleAcceptedCallback<T>,
-      cancelCallback?: CancelCallback,
+      cancelCallback?: CancelCallback<T>,
       options?: ActionServerOptions
     );
 
@@ -153,14 +155,14 @@ declare module 'rclnodejs' {
      *
      * The purpose of the cancel callback is to decide if a request to cancel an on-going
      * (or queued) goal should be accepted or rejected.
-     * The callback should take one parameter containing the cancel request and must return a
+     * The callback should take one parameter containing the cancel request ( a GoalHandle) and must return a
      * {@link CancelResponse} value.
      *
      * There can only be one cancel callback per {@link ActionServer}, therefore calling this
      * function will replace any previously registered callback.
      * @param cancelCallback - Callback function, if not provided, then unregisters any previously registered callback.
      */
-    registerCancelCallback(cancelCallback?: CancelCallback): void;
+    registerCancelCallback(cancelCallback?: CancelCallback<T>): void;
 
     /**
      * Register a callback for executing action goals.

package/types/action_uuid.d.ts

@@ -0,0 +1,58 @@
+declare module 'rclnodejs' {
+  /**
+   * @class - Represents a unique identifier used by actions.
+   * @ignore
+   */
+
+  export class ActionUuid {
+    /**
+     * Creates a new instance of ActionUuid.
+     * @param bytes - The bytes to create the UUID from.
+     *                A new random UUID will be created, if not provided.
+     */
+    constructor(bytes?: Uint8Array);
+
+    /**
+     * Creates a new {@link ActionUuid} from the given bytes.
+     * @param bytes - The bytes to create the UUID from.
+     * @returns The new UUID.
+     */
+    static fromBytes(byte: Uint8Array): ActionUuid;
+
+    /**
+     * Creates a new random {@link ActionUuid}.
+     * @returns The new UUID.
+     */
+    static random(): ActionUuid;
+
+    /**
+     * Gets the bytes from the UUID.
+     */
+    get bytes(): Uint8Array;
+
+    /**
+     * Returns the UUID as a string.
+     * @returns String representation of the UUID.
+     */
+    toString(): string;
+
+    /**
+     * Create an instance from a ROS2 UUID message
+     * @param msg - The ROS2 UUID message
+     * @returns The new instance.
+     */
+    static fromMessage(msg: unique_identifier_msgs.msg.UUID): ActionUuid;
+
+    /**
+     * Create a ROS2 UUID message from this instance.
+     * @returns The new ROS2 UUID message
+     */
+    toMessage(): unique_identifier_msgs.msg.UUID;
+
+    /**
+     * Create a ROS2 UUID message with random uuid data
+     * @returns The new instance.
+     */
+    static randomMessage(): unique_identifier_msgs.msg.UUID;
+  }
+}

package/types/base.d.ts

@@ -1,6 +1,7 @@
 /* eslint-disable spaced-comment */
 /// <reference path="action_client.d.ts" />
 /// <reference path="action_server.d.ts" />
+/// <reference path="action_uuid.d.ts" />
 /// <reference path="client.d.ts" />
 /// <reference path="clock_type.d.ts" />
 /// <reference path="clock.d.ts" />

package/types/interfaces.d.ts

@@ -1752,6 +1752,22 @@ declare module 'rclnodejs' {
 
   namespace rosbag2_interfaces {
     namespace srv {
+      export interface BurstConstructor extends ROSService {
+        readonly Request: Burst_RequestConstructor;
+        readonly Response: Burst_ResponseConstructor;
+      }
+      export interface Burst_Request {
+        num_messages: number;
+      }
+      export interface Burst_RequestConstructor {
+        new(other?: Burst_Request): Burst_Request;
+      }
+      export interface Burst_Response {
+        actually_burst: number;
+      }
+      export interface Burst_ResponseConstructor {
+        new(other?: Burst_Response): Burst_Response;
+      }
       export interface GetRateConstructor extends ROSService {
         readonly Request: GetRate_RequestConstructor;
         readonly Response: GetRate_ResponseConstructor;
@@ -1857,6 +1873,21 @@ declare module 'rclnodejs' {
       export interface SetRate_ResponseConstructor {
         new(other?: SetRate_Response): SetRate_Response;
       }
+      export interface SnapshotConstructor extends ROSService {
+        readonly Request: Snapshot_RequestConstructor;
+        readonly Response: Snapshot_ResponseConstructor;
+      }
+      export interface Snapshot_Request {
+      }
+      export interface Snapshot_RequestConstructor {
+        new(other?: Snapshot_Request): Snapshot_Request;
+      }
+      export interface Snapshot_Response {
+        success: boolean;
+      }
+      export interface Snapshot_ResponseConstructor {
+        new(other?: Snapshot_Response): Snapshot_Response;
+      }
       export interface TogglePausedConstructor extends ROSService {
         readonly Request: TogglePaused_RequestConstructor;
         readonly Response: TogglePaused_ResponseConstructor;
@@ -2252,12 +2283,14 @@ declare module 'rclnodejs' {
       export interface SolidPrimitive {
         type: number;
         dimensions: number[] | Float64Array;
+        polygon: geometry_msgs.msg.Polygon;
       }
       export interface SolidPrimitiveConstructor {
         readonly BOX: number;
         readonly SPHERE: number;
         readonly CYLINDER: number;
         readonly CONE: number;
+        readonly PRISM: number;
         readonly BOX_X: number;
         readonly BOX_Y: number;
         readonly BOX_Z: number;
@@ -2266,6 +2299,7 @@ declare module 'rclnodejs' {
         readonly CYLINDER_RADIUS: number;
         readonly CONE_HEIGHT: number;
         readonly CONE_RADIUS: number;
+        readonly PRISM_HEIGHT: number;
         new(other?: SolidPrimitive): SolidPrimitive;
       }
     }
@@ -2772,6 +2806,41 @@ declare module 'rclnodejs' {
       export interface BasicTypesConstructor {
         new(other?: BasicTypes): BasicTypes;
       }
+      export interface BoundedPlainSequences {
+        bool_values: boolean[];
+        byte_values: number[] | Uint8Array;
+        char_values: number[] | Int8Array;
+        float32_values: number[] | Float32Array;
+        float64_values: number[] | Float64Array;
+        int8_values: number[] | Int8Array;
+        uint8_values: number[] | Uint8Array;
+        int16_values: number[] | Int16Array;
+        uint16_values: number[] | Uint16Array;
+        int32_values: number[] | Int32Array;
+        uint32_values: number[] | Uint32Array;
+        int64_values: number[];
+        uint64_values: number[];
+        basic_types_values: test_msgs.msg.BasicTypes[];
+        constants_values: test_msgs.msg.Constants[];
+        defaults_values: test_msgs.msg.Defaults[];
+        bool_values_default: boolean[];
+        byte_values_default: number[] | Uint8Array;
+        char_values_default: number[] | Int8Array;
+        float32_values_default: number[] | Float32Array;
+        float64_values_default: number[] | Float64Array;
+        int8_values_default: number[] | Int8Array;
+        uint8_values_default: number[] | Uint8Array;
+        int16_values_default: number[] | Int16Array;
+        uint16_values_default: number[] | Uint16Array;
+        int32_values_default: number[] | Int32Array;
+        uint32_values_default: number[] | Uint32Array;
+        int64_values_default: number[];
+        uint64_values_default: number[];
+        alignment_check: number;
+      }
+      export interface BoundedPlainSequencesConstructor {
+        new(other?: BoundedPlainSequences): BoundedPlainSequences;
+      }
       export interface BoundedSequences {
         bool_values: boolean[];
         byte_values: number[] | Uint8Array;
@@ -3552,8 +3621,12 @@ declare module 'rclnodejs' {
         frame_locked: boolean;
         points: geometry_msgs.msg.Point[];
         colors: std_msgs.msg.ColorRGBA[];
+        texture_resource: string;
+        texture: sensor_msgs.msg.CompressedImage;
+        uv_coordinates: visualization_msgs.msg.UVCoordinate[];
         text: string;
         mesh_resource: string;
+        mesh_file: visualization_msgs.msg.MeshFile;
         mesh_use_embedded_materials: boolean;
       }
       export interface MarkerConstructor {
@@ -3594,6 +3667,20 @@ declare module 'rclnodejs' {
         readonly ROSLAUNCH: number;
         new(other?: MenuEntry): MenuEntry;
       }
+      export interface MeshFile {
+        filename: string;
+        data: number[] | Uint8Array;
+      }
+      export interface MeshFileConstructor {
+        new(other?: MeshFile): MeshFile;
+      }
+      export interface UVCoordinate {
+        u: number;
+        v: number;
+      }
+      export interface UVCoordinateConstructor {
+        new(other?: UVCoordinate): UVCoordinate;
+      }
     }
     namespace srv {
       export interface GetInteractiveMarkersConstructor extends ROSService {
@@ -3814,6 +3901,8 @@ declare module 'rclnodejs' {
     'ros2cli_test_interfaces/msg/ShortVariedNested': ros2cli_test_interfaces.msg.ShortVariedNested,
     'ros2cli_test_interfaces/srv/ShortVariedMultiNested_Request': ros2cli_test_interfaces.srv.ShortVariedMultiNested_Request,
     'ros2cli_test_interfaces/srv/ShortVariedMultiNested_Response': ros2cli_test_interfaces.srv.ShortVariedMultiNested_Response,
+    'rosbag2_interfaces/srv/Burst_Request': rosbag2_interfaces.srv.Burst_Request,
+    'rosbag2_interfaces/srv/Burst_Response': rosbag2_interfaces.srv.Burst_Response,
     'rosbag2_interfaces/srv/GetRate_Request': rosbag2_interfaces.srv.GetRate_Request,
     'rosbag2_interfaces/srv/GetRate_Response': rosbag2_interfaces.srv.GetRate_Response,
     'rosbag2_interfaces/srv/IsPaused_Request': rosbag2_interfaces.srv.IsPaused_Request,
@@ -3828,6 +3917,8 @@ declare module 'rclnodejs' {
     'rosbag2_interfaces/srv/Seek_Response': rosbag2_interfaces.srv.Seek_Response,
     'rosbag2_interfaces/srv/SetRate_Request': rosbag2_interfaces.srv.SetRate_Request,
     'rosbag2_interfaces/srv/SetRate_Response': rosbag2_interfaces.srv.SetRate_Response,
+    'rosbag2_interfaces/srv/Snapshot_Request': rosbag2_interfaces.srv.Snapshot_Request,
+    'rosbag2_interfaces/srv/Snapshot_Response': rosbag2_interfaces.srv.Snapshot_Response,
     'rosbag2_interfaces/srv/TogglePaused_Request': rosbag2_interfaces.srv.TogglePaused_Request,
     'rosbag2_interfaces/srv/TogglePaused_Response': rosbag2_interfaces.srv.TogglePaused_Response,
     'rosgraph_msgs/msg/Clock': rosgraph_msgs.msg.Clock,
@@ -3922,6 +4013,7 @@ declare module 'rclnodejs' {
     'test_msgs/action/NestedMessage_SendGoal_Response': test_msgs.action.NestedMessage_SendGoal_Response,
     'test_msgs/msg/Arrays': test_msgs.msg.Arrays,
     'test_msgs/msg/BasicTypes': test_msgs.msg.BasicTypes,
+    'test_msgs/msg/BoundedPlainSequences': test_msgs.msg.BoundedPlainSequences,
     'test_msgs/msg/BoundedSequences': test_msgs.msg.BoundedSequences,
     'test_msgs/msg/Builtins': test_msgs.msg.Builtins,
     'test_msgs/msg/Constants': test_msgs.msg.Constants,
@@ -3985,6 +4077,8 @@ declare module 'rclnodejs' {
     'visualization_msgs/msg/Marker': visualization_msgs.msg.Marker,
     'visualization_msgs/msg/MarkerArray': visualization_msgs.msg.MarkerArray,
     'visualization_msgs/msg/MenuEntry': visualization_msgs.msg.MenuEntry,
+    'visualization_msgs/msg/MeshFile': visualization_msgs.msg.MeshFile,
+    'visualization_msgs/msg/UVCoordinate': visualization_msgs.msg.UVCoordinate,
     'visualization_msgs/srv/GetInteractiveMarkers_Request': visualization_msgs.srv.GetInteractiveMarkers_Request,
     'visualization_msgs/srv/GetInteractiveMarkers_Response': visualization_msgs.srv.GetInteractiveMarkers_Response,
   };
@@ -4191,6 +4285,8 @@ declare module 'rclnodejs' {
     'ros2cli_test_interfaces/msg/ShortVariedNested': ros2cli_test_interfaces.msg.ShortVariedNestedConstructor,
     'ros2cli_test_interfaces/srv/ShortVariedMultiNested_Request': ros2cli_test_interfaces.srv.ShortVariedMultiNested_RequestConstructor,
     'ros2cli_test_interfaces/srv/ShortVariedMultiNested_Response': ros2cli_test_interfaces.srv.ShortVariedMultiNested_ResponseConstructor,
+    'rosbag2_interfaces/srv/Burst_Request': rosbag2_interfaces.srv.Burst_RequestConstructor,
+    'rosbag2_interfaces/srv/Burst_Response': rosbag2_interfaces.srv.Burst_ResponseConstructor,
     'rosbag2_interfaces/srv/GetRate_Request': rosbag2_interfaces.srv.GetRate_RequestConstructor,
     'rosbag2_interfaces/srv/GetRate_Response': rosbag2_interfaces.srv.GetRate_ResponseConstructor,
     'rosbag2_interfaces/srv/IsPaused_Request': rosbag2_interfaces.srv.IsPaused_RequestConstructor,
@@ -4205,6 +4301,8 @@ declare module 'rclnodejs' {
     'rosbag2_interfaces/srv/Seek_Response': rosbag2_interfaces.srv.Seek_ResponseConstructor,
     'rosbag2_interfaces/srv/SetRate_Request': rosbag2_interfaces.srv.SetRate_RequestConstructor,
     'rosbag2_interfaces/srv/SetRate_Response': rosbag2_interfaces.srv.SetRate_ResponseConstructor,
+    'rosbag2_interfaces/srv/Snapshot_Request': rosbag2_interfaces.srv.Snapshot_RequestConstructor,
+    'rosbag2_interfaces/srv/Snapshot_Response': rosbag2_interfaces.srv.Snapshot_ResponseConstructor,
     'rosbag2_interfaces/srv/TogglePaused_Request': rosbag2_interfaces.srv.TogglePaused_RequestConstructor,
     'rosbag2_interfaces/srv/TogglePaused_Response': rosbag2_interfaces.srv.TogglePaused_ResponseConstructor,
     'rosgraph_msgs/msg/Clock': rosgraph_msgs.msg.ClockConstructor,
@@ -4299,6 +4397,7 @@ declare module 'rclnodejs' {
     'test_msgs/action/NestedMessage_SendGoal_Response': test_msgs.action.NestedMessage_SendGoal_ResponseConstructor,
     'test_msgs/msg/Arrays': test_msgs.msg.ArraysConstructor,
     'test_msgs/msg/BasicTypes': test_msgs.msg.BasicTypesConstructor,
+    'test_msgs/msg/BoundedPlainSequences': test_msgs.msg.BoundedPlainSequencesConstructor,
     'test_msgs/msg/BoundedSequences': test_msgs.msg.BoundedSequencesConstructor,
     'test_msgs/msg/Builtins': test_msgs.msg.BuiltinsConstructor,
     'test_msgs/msg/Constants': test_msgs.msg.ConstantsConstructor,
@@ -4362,6 +4461,8 @@ declare module 'rclnodejs' {
     'visualization_msgs/msg/Marker': visualization_msgs.msg.MarkerConstructor,
     'visualization_msgs/msg/MarkerArray': visualization_msgs.msg.MarkerArrayConstructor,
     'visualization_msgs/msg/MenuEntry': visualization_msgs.msg.MenuEntryConstructor,
+    'visualization_msgs/msg/MeshFile': visualization_msgs.msg.MeshFileConstructor,
+    'visualization_msgs/msg/UVCoordinate': visualization_msgs.msg.UVCoordinateConstructor,
     'visualization_msgs/srv/GetInteractiveMarkers_Request': visualization_msgs.srv.GetInteractiveMarkers_RequestConstructor,
     'visualization_msgs/srv/GetInteractiveMarkers_Response': visualization_msgs.srv.GetInteractiveMarkers_ResponseConstructor,
   };
@@ -4399,6 +4500,7 @@ declare module 'rclnodejs' {
     'rcl_interfaces/srv/SetParameters': rcl_interfaces.srv.SetParametersConstructor,
     'rcl_interfaces/srv/SetParametersAtomically': rcl_interfaces.srv.SetParametersAtomicallyConstructor,
     'ros2cli_test_interfaces/srv/ShortVariedMultiNested': ros2cli_test_interfaces.srv.ShortVariedMultiNestedConstructor,
+    'rosbag2_interfaces/srv/Burst': rosbag2_interfaces.srv.BurstConstructor,
     'rosbag2_interfaces/srv/GetRate': rosbag2_interfaces.srv.GetRateConstructor,
     'rosbag2_interfaces/srv/IsPaused': rosbag2_interfaces.srv.IsPausedConstructor,
     'rosbag2_interfaces/srv/Pause': rosbag2_interfaces.srv.PauseConstructor,
@@ -4406,6 +4508,7 @@ declare module 'rclnodejs' {
     'rosbag2_interfaces/srv/Resume': rosbag2_interfaces.srv.ResumeConstructor,
     'rosbag2_interfaces/srv/Seek': rosbag2_interfaces.srv.SeekConstructor,
     'rosbag2_interfaces/srv/SetRate': rosbag2_interfaces.srv.SetRateConstructor,
+    'rosbag2_interfaces/srv/Snapshot': rosbag2_interfaces.srv.SnapshotConstructor,
     'rosbag2_interfaces/srv/TogglePaused': rosbag2_interfaces.srv.TogglePausedConstructor,
     'sensor_msgs/srv/SetCameraInfo': sensor_msgs.srv.SetCameraInfoConstructor,
     'std_srvs/srv/Empty': std_srvs.srv.EmptyConstructor,

package/types/node.d.ts

@@ -248,6 +248,21 @@ declare module 'rclnodejs' {
       options?: Options
     ): Publisher<T>;
 
+    /**
+     * Create a Subscription.
+     *
+     * @param typeClass - Type of ROS messages the subscription will subscribe to
+     * @param topic - Name of the topic the subcription will subscribe to.
+     * @param callback - Called when a new message is received.
+     *                   The serialized message will be null-terminated.
+     * @returns New instance of Subscription.
+     */
+    createSubscription<T extends TypeClass<MessageTypeClassName>>(
+      typeClass: T,
+      topic: string,
+      callback: SubscriptionCallback<T>
+    ): Subscription;
+
     /**
      * Create a Subscription.
      *
@@ -278,6 +293,20 @@ declare module 'rclnodejs' {
       options?: Options
     ): Client<T>;
 
+    /**
+     * Create a Service.
+     *
+     * @param typeClass - Service type
+     * @param serviceName - Name of the service.
+     * @param callback - Callback function for notification of incoming requests.
+     * @returns An instance of Service.
+     */
+    createService<T extends TypeClass<ServiceTypeClassName>>(
+      typeClass: T,
+      serviceName: string,
+      callback: ServiceRequestHandler<T>
+    ): ServiceType<T>;
+
     /**
      * Create a Service.
      *