rclnodejs 0.21.3 → 0.22.0

package/src/rcl_bindings.cpp

@@ -36,6 +36,7 @@
 #include <rosidl_generator_c/string_functions.h>
 #endif
 
+#include <iostream>
 #include <memory>
 #include <string>
 #include <vector>
@@ -652,6 +653,8 @@ NAN_METHOD(CreateSubscription) {
       *Nan::Utf8String(info[3]->ToString(currentContent).ToLocalChecked()));
   std::string topic(
       *Nan::Utf8String(info[4]->ToString(currentContent).ToLocalChecked()));
+  v8::Local<v8::Object> options =
+      info[5]->ToObject(currentContent).ToLocalChecked();
 
   rcl_subscription_t* subscription =
       reinterpret_cast<rcl_subscription_t*>(malloc(sizeof(rcl_subscription_t)));
@@ -659,12 +662,75 @@ NAN_METHOD(CreateSubscription) {
 
   rcl_subscription_options_t subscription_ops =
       rcl_subscription_get_default_options();
-  auto qos_profile = GetQoSProfile(info[5]);
 
+  v8::Local<v8::Value> qos =
+      Nan::Get(options, Nan::New("qos").ToLocalChecked()).ToLocalChecked();
+  auto qos_profile = GetQoSProfile(qos);
   if (qos_profile) {
     subscription_ops.qos = *qos_profile;
   }
 
+#if ROS_VERSION >= 2205  // 2205 => Humble+
+  if (Nan::Has(options, Nan::New("contentFilter").ToLocalChecked())
+          .FromMaybe(false)) {
+    // configure content-filter
+    v8::MaybeLocal<v8::Value> contentFilterVal =
+        Nan::Get(options, Nan::New("contentFilter").ToLocalChecked());
+
+    if (!Nan::Equals(contentFilterVal.ToLocalChecked(), Nan::Undefined())
+             .ToChecked()) {
+      v8::Local<v8::Object> contentFilter = contentFilterVal.ToLocalChecked()
+                                                ->ToObject(currentContent)
+                                                .ToLocalChecked();
+
+      // expression property is required
+      std::string expression(*Nan::Utf8String(
+          Nan::Get(contentFilter, Nan::New("expression").ToLocalChecked())
+              .ToLocalChecked()
+              ->ToString(currentContent)
+              .ToLocalChecked()));
+
+      // parameters property (string[]) is optional
+      int argc = 0;
+      char** argv = nullptr;
+
+      if (Nan::Has(contentFilter, Nan::New("parameters").ToLocalChecked())
+              .FromMaybe(false)) {
+        v8::Local<v8::Array> jsArgv = v8::Local<v8::Array>::Cast(
+            Nan::Get(contentFilter, Nan::New("parameters").ToLocalChecked())
+                .ToLocalChecked());
+        argc = jsArgv->Length();
+        if (argc > 0) {
+          argv = reinterpret_cast<char**>(malloc(argc * sizeof(char*)));
+          for (int i = 0; i < argc; i++) {
+            Nan::MaybeLocal<v8::Value> jsElement = Nan::Get(jsArgv, i);
+            Nan::Utf8String utf8_arg(jsElement.ToLocalChecked());
+            int len = utf8_arg.length() + 1;
+            argv[i] = reinterpret_cast<char*>(malloc(len * sizeof(char*)));
+            snprintf(argv[i], len, "%s", *utf8_arg);
+          }
+        }
+      }
+
+      rcl_ret_t ret = rcl_subscription_options_set_content_filter_options(
+          expression.c_str(), argc, (const char**)argv, &subscription_ops);
+
+      if (ret != RCL_RET_OK) {
+        Nan::ThrowError(rcl_get_error_string().str);
+        rcl_reset_error();
+      }
+
+      if (argc) {
+        for (int i = 0; i < argc; i++) {
+          free(argv[i]);
+        }
+        free(argv);
+      }
+    }
+  }
+
+#endif
+
   const rosidl_message_type_support_t* ts =
       GetMessageTypeSupport(package_name, message_sub_folder, message_name);
 
@@ -689,6 +755,121 @@ NAN_METHOD(CreateSubscription) {
   }
 }
 
+NAN_METHOD(HasContentFilter) {
+#if ROS_VERSION < 2205  // 2205 => Humble+
+  info.GetReturnValue().Set(Nan::False());
+  return;
+#else
+
+  RclHandle* subscription_handle = RclHandle::Unwrap<RclHandle>(
+      Nan::To<v8::Object>(info[0]).ToLocalChecked());
+  rcl_subscription_t* subscription =
+      reinterpret_cast<rcl_subscription_t*>(subscription_handle->ptr());
+
+  bool is_valid = rcl_subscription_is_cft_enabled(subscription);
+  info.GetReturnValue().Set(Nan::New(is_valid));
+#endif
+}
+
+NAN_METHOD(SetContentFilter) {
+#if ROS_VERSION < 2205  // 2205 => Humble+
+  info.GetReturnValue().Set(Nan::False());
+  return;
+#else
+  v8::Local<v8::Context> currentContext = Nan::GetCurrentContext();
+  RclHandle* subscription_handle = RclHandle::Unwrap<RclHandle>(
+      Nan::To<v8::Object>(info[0]).ToLocalChecked());
+  rcl_subscription_t* subscription =
+      reinterpret_cast<rcl_subscription_t*>(subscription_handle->ptr());
+
+  v8::Local<v8::Object> contentFilter =
+      info[1]->ToObject(currentContext).ToLocalChecked();
+
+  Nan::MaybeLocal<v8::Value> jsExpression =
+      Nan::Get(contentFilter, Nan::New("expression").ToLocalChecked());
+  Nan::Utf8String utf8_arg(jsExpression.ToLocalChecked());
+  int len = utf8_arg.length() + 1;
+  char* expression = reinterpret_cast<char*>(malloc(len * sizeof(char*)));
+  snprintf(expression, len, "%s", *utf8_arg);
+
+  // parameters property (string[]) is optional
+  int argc = 0;
+  char** argv = nullptr;
+
+  if (Nan::Has(contentFilter, Nan::New("parameters").ToLocalChecked())
+          .FromMaybe(false)) {
+    v8::Local<v8::Array> jsArgv = v8::Local<v8::Array>::Cast(
+        Nan::Get(contentFilter, Nan::New("parameters").ToLocalChecked())
+            .ToLocalChecked());
+    argc = jsArgv->Length();
+    if (argc > 0) {
+      argv = reinterpret_cast<char**>(malloc(argc * sizeof(char*)));
+      for (int i = 0; i < argc; i++) {
+        Nan::MaybeLocal<v8::Value> jsElement = Nan::Get(jsArgv, i);
+        Nan::Utf8String utf8_arg(jsElement.ToLocalChecked());
+        int len = utf8_arg.length() + 1;
+        argv[i] = reinterpret_cast<char*>(malloc(len * sizeof(char*)));
+        snprintf(argv[i], len, "%s", *utf8_arg);
+      }
+    }
+  }
+
+  // create ctf options
+  rcl_subscription_content_filter_options_t options =
+      rcl_get_zero_initialized_subscription_content_filter_options();
+
+  THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
+                           rcl_subscription_content_filter_options_set(
+                               subscription,
+                               expression,  // expression.c_str(),
+                               argc, (const char**)argv, &options),
+                           rcl_get_error_string().str);
+
+  THROW_ERROR_IF_NOT_EQUAL(
+      RCL_RET_OK, rcl_subscription_set_content_filter(subscription, &options),
+      rcl_get_error_string().str);
+
+  if (argc) {
+    free(expression);
+
+    for (int i = 0; i < argc; i++) {
+      free(argv[i]);
+    }
+    free(argv);
+  }
+
+  info.GetReturnValue().Set(Nan::True());
+#endif
+}
+
+NAN_METHOD(ClearContentFilter) {
+#if ROS_VERSION < 2205  // 2205 => Humble+
+  info.GetReturnValue().Set(Nan::False());
+  return;
+#else
+  RclHandle* subscription_handle = RclHandle::Unwrap<RclHandle>(
+      Nan::To<v8::Object>(info[0]).ToLocalChecked());
+  rcl_subscription_t* subscription =
+      reinterpret_cast<rcl_subscription_t*>(subscription_handle->ptr());
+
+  // create ctf options
+  rcl_subscription_content_filter_options_t options =
+      rcl_get_zero_initialized_subscription_content_filter_options();
+
+  THROW_ERROR_IF_NOT_EQUAL(
+      RCL_RET_OK,
+      rcl_subscription_content_filter_options_init(
+          subscription, "", 0, (const char**)nullptr, &options),
+      rcl_get_error_string().str);
+
+  THROW_ERROR_IF_NOT_EQUAL(
+      RCL_RET_OK, rcl_subscription_set_content_filter(subscription, &options),
+      rcl_get_error_string().str);
+
+  info.GetReturnValue().Set(Nan::True());
+#endif
+}
+
 NAN_METHOD(CreatePublisher) {
   v8::Local<v8::Context> currentContent = Nan::GetCurrentContext();
   // Extract arguments
@@ -1783,6 +1964,9 @@ std::vector<BindingMethod> binding_methods = {
     {"getRosTimeOverrideIsEnabled", GetRosTimeOverrideIsEnabled},
     {"rclTake", RclTake},
     {"createSubscription", CreateSubscription},
+    {"hasContentFilter", HasContentFilter},
+    {"setContentFilter", SetContentFilter},
+    {"clearContentFilter", ClearContentFilter},
     {"createPublisher", CreatePublisher},
     {"publish", Publish},
     {"getTopic", GetTopic},

package/types/entity.d.ts

@@ -7,5 +7,6 @@ declare module 'rclnodejs' {
     readonly qos: QoS;
     readonly typedArrayEnabled: boolean;
     readonly typeClass: TypeClass;
+    isDestroyed(): boolean;
   }
 }

package/types/interfaces.d.ts

@@ -1751,7 +1751,39 @@ declare module 'rclnodejs' {
   }
 
   namespace rosbag2_interfaces {
+    namespace msg {
+      export interface ReadSplitEvent {
+        closed_file: string;
+        opened_file: string;
+      }
+      export interface ReadSplitEventConstructor {
+        new(other?: ReadSplitEvent): ReadSplitEvent;
+      }
+      export interface WriteSplitEvent {
+        closed_file: string;
+        opened_file: string;
+      }
+      export interface WriteSplitEventConstructor {
+        new(other?: WriteSplitEvent): WriteSplitEvent;
+      }
+    }
     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 +1889,21 @@ 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 +2299,14 @@ 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 +2315,7 @@ 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 +2822,41 @@ 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 +3637,12 @@ 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 +3683,20 @@ 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 +3917,10 @@ 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/msg/ReadSplitEvent': rosbag2_interfaces.msg.ReadSplitEvent,
+    'rosbag2_interfaces/msg/WriteSplitEvent': rosbag2_interfaces.msg.WriteSplitEvent,
+    '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 +3935,8 @@ 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 +4031,7 @@ 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 +4095,8 @@ 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 +4303,10 @@ 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/msg/ReadSplitEvent': rosbag2_interfaces.msg.ReadSplitEventConstructor,
+    'rosbag2_interfaces/msg/WriteSplitEvent': rosbag2_interfaces.msg.WriteSplitEventConstructor,
+    '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 +4321,8 @@ 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 +4417,7 @@ 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 +4481,8 @@ 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 +4520,7 @@ 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 +4528,7 @@ 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

@@ -13,6 +13,30 @@ declare module 'rclnodejs' {
         name: string;
       };
 
+  /**
+   * A filter description similar to a SQL WHERE clause that limits
+   * the data wanted by a Subscription.
+   *
+   * The `expression` grammar is defined in the DDS 1.4 specification, Annex B.
+   * https://www.omg.org/spec/DDS/1.4/PDF
+   */
+  interface SubscriptionContentFilter {
+    /**
+     * Specifies the criteria to select the data samples of
+     * interest. It is similar to the WHERE part of an SQL clause.
+     * Must be a valid query clause.
+     */
+    readonly expression: string;
+
+    /**
+     * The values for the ‘parameters’ (i.e., "%n" tokens) in
+     * the filter_expression string. There must be a 1-1 match
+     * between values and expression parameters. The maximum
+     * number of parameters is 100.
+     */
+    readonly parameters?: Array<any>;
+  }
+
   /**
    * Configuration options when creating new Publishers, Subscribers,
    * Clients and Services.
@@ -37,16 +61,23 @@ declare module 'rclnodejs' {
      * ROS Middleware "quality of service" setting, default: QoS.profileDefault.
      */
     qos?: T;
+
+    /**
+     * An optional filter descriptions similar to a SQL WHERE clause used by a Subscription to
+     * inspect and limit messages that it accepts.
+     */
+    contentFilter?: SubscriptionContentFilter;
   }
 
   /**
-   * Default options when creating a Node, Publisher, Subscription, Client or Service
+   * Default options when creating a Publisher, Subscription, Client or Service
    *
    * ```ts
    * {
    *   enableTypedArray: true,
    *   qos: QoS.profileDefault,
-   *   isRaw: false
+   *   isRaw: false,
+   *   contentFilter: undefined
    * }
    * ```
    */
@@ -133,6 +164,21 @@ declare module 'rclnodejs' {
       options?: NodeOptions
     );
 
+    /**
+     * Create an Options instance initialized with default values.
+     * @returns {Options} - The new initialized instance.
+     * @example
+     * ```
+     * {
+     *   enableTypedArray: true,
+     *   isRaw: false,
+     *   qos: QoS.profileDefault,
+     *   contentFilter: undefined,
+     * }
+     * ```
+     */
+    static getDefaultOptions(): Options;
+
     /**
      * Get the name of the node.
      *
@@ -248,6 +294,21 @@ 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.
      *
@@ -256,6 +317,8 @@ declare module 'rclnodejs' {
      * @param options - Configuration options, see DEFAULT_OPTIONS
      * @param callback - Called when a new message is received. The serialized message will be null-terminated.
      * @returns New instance of Subscription.
+     * @throws Error - May throw an RMW error if options.content-filter is malformed.
+     * @see {@link https://www.omg.org/spec/DDS/1.4/PDF|Content-filter details at DDS 1.4 specification, Annex B}
      */
     createSubscription<T extends TypeClass<MessageTypeClassName>>(
       typeClass: T,
@@ -278,6 +341,20 @@ 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.
      *

package/types/subscription.d.ts

@@ -6,6 +6,7 @@ declare module 'rclnodejs' {
    *
    * @remarks
    * See {@link Node#createSubscription | Node.createSubscription}
+   * See {@link SubscriptionContentFilter}
    * See {@link Node#createPublisher | Node.createPublisher}
    * See {@link Publisher}
    * See {@link Subscription}
@@ -22,5 +23,32 @@ declare module 'rclnodejs' {
      * Topic to listen for messages on.
      */
     readonly topic: string;
+
+    /**
+     * Specifies if messages are in raw (binary) format
+     */
+    readonly isRaw: boolean;
+
+    /**
+     * Test if the RMW supports content-filtered topics and that this subscription
+     * is configured with a well formed content-filter.
+     * @returns {boolean} True if content-filtering will be applied; otherwise false.
+     */
+    hasContentFilter(): boolean;
+
+    /**
+     * Set a content-filter if the RMW supports content-filtered topics.
+     * @param contentFilter - The content-filter description to apply.
+     * @returns True if successful; false otherwise
+     * @remarks
+     * @see {@link https://www.omg.org/spec/DDS/1.4/PDF|DDS 1.4 specification, Annex B}
+     */
+    setContentFilter(filter: SubscriptionContentFilter): boolean;
+
+    /**
+     * Clear the current content-filter. No filtering is to be applied.
+     * @returns True if successful; false otherwise
+     */
+    clearContentFilter(): boolean;
   }
 }