rclnodejs 0.21.3 → 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/README.md

@@ -45,7 +45,7 @@ npm i rclnodejs@x.y.z
 
 |                                                            RCLNODEJS Version                                                            |                                                                                                                                                                     Compatible ROS 2 Release                                                                                                                                                                     |
 | :-------------------------------------------------------------------------------------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
-| [0.21.3 (current)](https://www.npmjs.com/package/rclnodejs/v/0.21.3) ([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) |
+| [0.21.4 (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/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": "0.21.3",
+  "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                                                                                                                                                                     |
 | :-------------------------------------------------------------------------------------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
-| [0.21.3 (current)](https://www.npmjs.com/package/rclnodejs/v/0.21.3) ([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) |
+| [0.21.4 (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/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.
      *