rclnodejs 0.22.2 → 0.22.3

package/.github/workflows/identify-ros-distro.yml

@@ -11,6 +11,7 @@ on:
         value: ${{ jobs.identify-ros-distro.outputs.linuxos }}
 env:
   ROLLING_VAR: ${{ contains(github.ref, 'develop') }}
+  IRON_VAR: ${{ contains(github.ref, 'iron') }}
   HUMBLE_VAR: ${{ contains(github.ref, 'humble') }}
   GALACTIC_VAR: ${{ contains(github.ref, 'galactic') }}
   FOXY_VAR: ${{ contains(github.ref, 'foxy') }}
@@ -26,9 +27,11 @@ jobs:
         id: identify
         run: |
           if ${ROLLING_VAR} == true; then
-            # echo "::set-output name=distro::rolling"
             echo "::set-output name=distro::rolling"
             echo "::set-output name=linuxos::ubuntu-22.04"
+          elif ${IRON_VAR} == true; then
+            echo "::set-output name=distro::iron"
+            echo "::set-output name=linuxos::ubuntu-22.04"
           elif ${HUMBLE_VAR} == true; then
             echo "::set-output name=distro::humble"
             echo "::set-output name=linuxos::ubuntu-22.04"

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

@@ -4,13 +4,14 @@ on:
   workflow_dispatch:
 
 jobs:
-  build-humble-and-rolling: # humble and rolling distros
+  build-humble-and-rolling: # iron, humble and rolling distros
     runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:
-        node-version: [14.X, 16.X, 18.X, 19.X]
+        node-version: [16.X, 18.X, 20.X]
         ros_distribution:
+          - iron
           - humble
           - rolling
 
@@ -35,34 +36,3 @@ jobs:
         source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
         npm i
         npm test
-
-  build-foxy: # foxy distros
-    runs-on: ubuntu-20.04
-    strategy:
-      fail-fast: false
-      matrix:
-        node-version: [14.X, 16.11.X, 18.X, 19.X]
-        ros_distribution:
-          - foxy
-
-    steps:
-    - name: Setup ROS2
-      uses: ros-tooling/setup-ros@v0.6
-      with:
-        required-ros-distributions: ${{ matrix.ros_distribution }}
-
-    - name: Install test-msgs on Linux
-      run: |
-        sudo apt install ros-${{ matrix.ros_distribution }}-test-msgs
-    - uses: actions/checkout@v3
-
-    - name: Setup Node.js ${{ matrix.node-version }}
-      uses: actions/setup-node@v3
-      with:
-        node-version: ${{ matrix.node-version }}
-
-    - name: Build and test rclnodejs
-      run: |
-        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
-        npm i
-        npm test

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

@@ -5,12 +5,14 @@ on:
   push:
     branches:
       - develop
+      - iron-irwini
       - humble-hawksbill
       - galactic-geochelone
       - foxy-fitzroy
   pull_request:
     branches:
       - develop
+      - iron-irwini
       - humble-hawksbill
       - galactic-geochelone
       - foxy-fitzroy
@@ -26,7 +28,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        node-version: [14.X, 16.X, 18.X, 19.X]
+        node-version: [16.X, 18.X, 20.X]
     steps:
     - name: Setup Node.js ${{ matrix.node-version }}
       uses: actions/setup-node@v3

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

@@ -10,9 +10,9 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        node-version: [14.21.2, 16.19.0, 18.14.1, 19.X]
+        node-version: [16.20.0, 18.16.0, 20.X]
         ros_distribution:
-          - foxy
+          - iron
           - humble
           - rolling
     steps:
@@ -51,4 +51,4 @@ jobs:
       run: |
         call "c:\dev\${{ matrix.ros_distribution }}\ros2-windows\setup.bat"
         cmd /c "if ${{ matrix.ros_distribution }}==foxy (set RMW_IMPLEMENTATION=rmw_cyclonedds_cpp&&npm test)"
-        cmd /c "if NOT ${{ matrix.ros_distribution }}==foxy (npm test)"
+        cmd /c "if NOT ${{ matrix.ros_distribution }}==foxy (npm test)"

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

@@ -5,12 +5,14 @@ on:
   push:
     branches:
       - develop
+      - iron-irwini
       - humble-hawksbill
       - galactic-geochelone
       - foxy-fitzroy
   pull_request:
     branches:
       - develop
+      - iron-irwini
       - humble-hawksbill
       - galactic-geochelone
       - foxy-fitzroy
@@ -28,7 +30,7 @@ jobs:
       matrix:
         # Explicit node versions are used to workaround an error
         # where node-gyp fails due to some silly cacheing
-        node-version: [14.21.2, 16.19.0, 18.14.1, 19.X]
+        node-version: [16.20.0, 18.16.0, 20.X]
     steps:
     - name: Setup Node.js ${{ matrix.node-version }}
       uses: actions/setup-node@v3

package/lib/time_source.js

@@ -176,7 +176,7 @@ class TimeSource {
   }
 
   _clockCallback(msg) {
-    this._lastTimeSet = Time.fromMsg(msg);
+    this._lastTimeSet = Time.fromMsg(msg.clock);
     this._associatedClocks.forEach((clock) => {
       clock.rosTimeOverride = this._lastTimeSet;
     });
@@ -185,7 +185,7 @@ class TimeSource {
   _subscribeToClockTopic() {
     if (!this._clockSubscription && this._node) {
       this._clockSubscription = this._node.createSubscription(
-        'builtin_interfaces/msg/Time',
+        'rosgraph_msgs/msg/Clock',
         CLOCK_TOPIC,
         this._clockCallback.bind(this)
       );

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rclnodejs",
-  "version": "0.22.2",
+  "version": "0.22.3",
   "description": "ROS2.0 JavaScript client with Node.js",
   "main": "index.js",
   "types": "types/index.d.ts",
@@ -95,6 +95,6 @@
     ]
   },
   "engines": {
-    "node": ">= 10.23.1 <20.0.0"
+    "node": ">= 16.13.0"
   }
 }