rclnodejs 0.27.1 → 0.27.3

package/README.md

@@ -22,8 +22,8 @@ rclnodejs.init().then(() => {
 
 **ROS 2 SDK**
 
-- See the ROS 2 SDK [Installation Guide](https://index.ros.org/doc/ros2/Installation/) for details.
-- **DON'T FORGET TO [SOURCE THE ROS 2 STARTUP FILES](https://index.ros.org/doc/ros2/Tutorials/Configuring-ROS2-Environment/#source-the-setup-files)**
+- See the ROS 2 SDK [Installation Guide](https://docs.ros.org/en/jazzy/Installation.html) for details.
+- **DON'T FORGET TO [SOURCE THE ROS 2 STARTUP FILES](https://docs.ros.org/en/jazzy/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html#source-the-setup-files)**
 
 ## Install rclnodejs
 

package/lib/action/client.js

@@ -191,7 +191,7 @@ class ActionClient extends Entity {
    * Send a goal and wait for the goal ACK asynchronously.
    *
    * Return a Promise object that is resolved with a ClientGoalHandle when receipt of the goal
-   * is acknowledged by an action server, see client state transition https://index.ros.org/doc/ros2/Tutorials/Understanding-ROS2-Actions/
+   * is acknowledged by an action server, see client state transition https://docs.ros.org/en/jazzy/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Actions/Understanding-ROS2-Actions.html
    *
    * @param {object} goal - The goal request.
    * @param {function} feedbackCallback - Callback function for feedback associated with the goal.
@@ -307,7 +307,7 @@ class ActionClient extends Entity {
   /**
    * Get the result of an active goal asynchronously.
    *
-   * Return a Promise object that is resolved with result, see client state transition https://index.ros.org/doc/ros2/Tutorials/Understanding-ROS2-Actions/
+   * Return a Promise object that is resolved with result, see client state transition https://docs.ros.org/en/jazzy/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Actions/Understanding-ROS2-Actions.html
    *
    * @ignore
    * @param {ClientGoalHandle} goalHandle - Handle to the goal to cancel.

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rclnodejs",
-  "version": "0.27.1",
+  "version": "0.27.3",
   "description": "ROS2.0 JavaScript client with Node.js",
   "main": "index.js",
   "types": "types/index.d.ts",

package/rosidl_gen/generator.json

@@ -1,6 +1,6 @@
 {
   "name": "rosidl-generator",
-  "version": "0.3.8",
+  "version": "0.3.9",
   "description": "Generate JavaScript object from ROS IDL(.msg) files",
   "main": "index.js",
   "authors": [

package/rosidl_gen/message_translator.js

@@ -145,10 +145,13 @@ function toPlainObject(message, enableTypedArray = true) {
           obj[name] = Array.from(message[name]);
         } else {
           // Direct assignment
-          //  Note: TypedArray also falls into this branch if |enableTypedArray| is true
+          // Note: TypedArray also falls into this branch if |enableTypedArray| is true
           // TODO(Kenny): make sure Int64 & Uint64 type can be copied here
           obj[name] = message[name];
         }
+      } else if (def.fields[i].type.isArray && def.fields[i].type.type === 'Constants') {
+        // For a constants array, because its field is empty we just return an empty array here.
+        obj[name] = [];
       } else {
         // Proceed further
         obj[name] = toPlainObject(message[name], enableTypedArray);

package/rosidl_gen/templates/message.dot

@@ -330,6 +330,11 @@ class {{=objectWrapper}} {
     {{? field.default_value !== null && field.type.isPrimitiveType && isTypedArrayType(field.type)}}
     this._wrapperFields.{{=field.name}}.fill({{=getTypedArrayName(field.type)}}.from({{=JSON.stringify(field.default_value)}}));
     {{?}}
+    {{? field.type.type === 'string' && field.type.isFixedSizeArray}}
+    for (let i = 0; i < {{=field.type.arraySize}}; i++) {
+      primitiveTypes.initString(this._refObject.{{=field.name}}[i]);
+    }
+    {{?}}
     {{?? !field.type.isPrimitiveType || (field.type.type === 'string' && it.spec.msgName !== 'String')}}
     this._wrapperFields.{{=field.name}} = new {{=getWrapperNameByType(field.type)}}();
     {{?? it.spec.msgName === 'String'}}
@@ -376,10 +381,26 @@ class {{=objectWrapper}} {
     {{~}}
 
     {{~ it.spec.fields :field}}
-    {{? field.type.isArray && field.type.isPrimitiveType && field.type.isFixedSizeArray}}
-    for (let i = 0; i < this._wrapperFields.{{=field.name}}.data.length; i++) {
-      this._refObject.{{=field.name}}[i] = this._wrapperFields.{{=field.name}}.data[i];
+    {{? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type) && field.type.isFixedSizeArray }}
+    {{? field.type.type === 'string'}}
+    for (let i = 0; i < {{=field.type.arraySize}}; i++) {
+      if (own) {
+        primitiveTypes.initString(this._refObject.{{=field.name}}[i].ref(), own);
+      } else {
+        if (this._{{=field.name}}Array.length === {{=field.type.arraySize}}) {
+          const value = this._{{=field.name}}Array[i];
+          this._refObject.{{=field.name}}[i].data = value;
+          this._refObject.{{=field.name}}[i].size = Buffer.byteLength(value);
+          this._refObject.{{=field.name}}[i].capacity = Buffer.byteLength(value) + 1;
+        }
+      }
     }
+    // For non-typed array like int64/uint64/bool.
+    {{?? true}}
+    this._refObject.{{=field.name}} = this._{{=field.name}}Array;
+    {{?}}
+    {{?? field.type.isArray && field.type.isPrimitiveType && isTypedArrayType(field.type) && field.type.isFixedSizeArray}}
+    this._refObject.{{=field.name}} = Array.from(this._wrapperFields.{{=field.name}}.data);
     {{?? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
     if (!own) {
       this._wrapperFields.{{=field.name}}.fill(this._{{=field.name}}Array);
@@ -391,9 +412,11 @@ class {{=objectWrapper}} {
       this._refObject.{{=field.name}} = this._wrapperFields.{{=field.name}}.refObject;
     }
     {{?? field.type.isArray && !field.type.isPrimitiveType && field.type.isFixedSizeArray}}
-    for (let i = 0; i < this._wrapperFields.{{=field.name}}.data.length; i++) {
-      this._refObject.{{=field.name}}[i] = this._wrapperFields.{{=field.name}}.data[i].freeze(own, checkConsistency);
-      this._refObject.{{=field.name}}[i] = this._wrapperFields.{{=field.name}}.data[i].refObject;
+    for (let i = 0; i < {{=field.type.arraySize}}; i++) {
+      if (this._wrapperFields.{{=field.name}}.data[i]) {
+        this._wrapperFields.{{=field.name}}.data[i].freeze(own, checkConsistency);
+        this._refObject.{{=field.name}}[i] = this._wrapperFields.{{=field.name}}.data[i].refObject;
+      }
     }
     {{?? !field.type.isPrimitiveType || field.type.isArray}}
     this._wrapperFields.{{=field.name}}.freeze(own, checkConsistency);
@@ -429,9 +452,17 @@ class {{=objectWrapper}} {
     this._{{=field.name}}Intialized = true;
     {{?}}
 
-    {{? field.type.isArray && field.type.isPrimitiveType && field.type.isFixedSizeArray}}
-    this._refObject.{{=field.name}} = refObject.{{=field.name}};
+    {{? field.type.isArray && field.type.isPrimitiveType && field.type.isFixedSizeArray && isTypedArrayType(field.type)}}
     this._wrapperFields.{{=field.name}}.fill(refObject.{{=field.name}}.toArray());
+    {{?? field.type.isArray && field.type.isPrimitiveType && field.type.isFixedSizeArray && !isTypedArrayType(field.type)}}
+    {{? field.type.type === 'string' }}
+    for (let index = 0; index < {{=field.type.arraySize}}; index++) {
+      this._{{=field.name}}Array[index] = refObject.{{=field.name}}[index].data;
+    }
+    // For non-typed array like int64/uint64/bool.
+    {{?? true}}
+    this._{{=field.name}}Array = refObject.{{=field.name}}.toArray();
+    {{?}}
     {{?? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
     refObject.{{=field.name}}.data.length = refObject.{{=field.name}}.size;
     for (let index = 0; index < refObject.{{=field.name}}.size; index++) {
@@ -472,6 +503,10 @@ class {{=objectWrapper}} {
     for (let i = 0; i < {{=field.type.arraySize}}; i++) {
       {{=getWrapperNameByType(field.type)}}.freeStruct(refObject.{{=field.name}}[i]);
     }
+    {{?? field.type.isArray && field.type.type === 'string' && field.type.isFixedSizeArray}}
+    for (let i = 0; i < {{=field.type.arraySize}}; i++) {
+      {{=getWrapperNameByType(field.type)}}.freeStruct(refObject.{{=field.name}}[i]);
+    }
     {{?? !field.type.isPrimitiveType || (field.type.type === 'string' && it.spec.msgName !== 'String')}}
     {{=getWrapperNameByType(field.type)}}.freeStruct(refObject.{{=field.name}});
     {{?? it.spec.msgName === 'String'}}
@@ -502,7 +537,9 @@ class {{=objectWrapper}} {
 
   {{~ it.spec.fields :field}}
   get {{=field.name}}() {
-    {{? field.type.isArray && isTypedArrayType(field.type)}}
+    {{? field.type.isArray && field.type.type === 'Constants'}}
+    return [];
+    {{?? field.type.isArray && isTypedArrayType(field.type)}}
     return this._wrapperFields['{{=field.name}}'].data;
     {{?? field.type.isArray && field.type.isPrimitiveType}}
     return this._{{=field.name}}Array;

package/rostsd_gen/index.js

@@ -361,8 +361,9 @@ function isInternalActionMsgInterface(rosMsgInterface) {
 function isInternalServiceEventMsgInterface(rosMsgInterface) {
   let name = rosMsgInterface.type().interfaceName;
   let subFolder = rosMsgInterface.type().subFolder;
+  // Some package puts .srv files under srvs/, e.g., slam_toolbox.
   return (
-    (subFolder == 'srv' || subFolder == 'action') 
+    (subFolder == 'srv' || subFolder == 'srvs' || subFolder == 'action')
     && name.endsWith('_Event')
   );
 }

package/scripts/npmjs-readme.md

@@ -22,8 +22,8 @@ rclnodejs.init().then(() => {
 
 **ROS 2 SDK**
 
-- See the ROS 2 SDK [Installation Guide](https://index.ros.org/doc/ros2/Installation/) for details.
-- **DON'T FORGET TO [SOURCE THE ROS 2 STARTUP FILES](https://index.ros.org/doc/ros2/Tutorials/Configuring-ROS2-Environment/#source-the-setup-files)**
+- See the ROS 2 SDK [Installation Guide](https://docs.ros.org/en/jazzy/Installation.html) for details.
+- **DON'T FORGET TO [SOURCE THE ROS 2 STARTUP FILES](https://docs.ros.org/en/jazzy/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html#source-the-setup-files)**
 
 ## Install rclnodejs
 

package/src/rcl_action_bindings.cpp

@@ -655,6 +655,7 @@ NAN_METHOD(ActionProcessCancelRequest) {
           rcl_get_error_string().str);
       rcl_reset_error();
     }
+    free(cancel_response_ptr);
     Nan::ThrowError(cancel_error.str);
     info.GetReturnValue().Set(Nan::Undefined());
     return;

package/src/rcl_bindings.cpp

@@ -325,11 +325,19 @@ NAN_METHOD(CreateTimer) {
       reinterpret_cast<rcl_timer_t*>(malloc(sizeof(rcl_timer_t)));
   *timer = rcl_get_zero_initialized_timer();
 
+#if ROS_VERSION > 2205  // After humble.
+  THROW_ERROR_IF_NOT_EQUAL(
+      RCL_RET_OK,
+      rcl_timer_init2(timer, clock, context, RCL_MS_TO_NS(period_ms), nullptr,
+                      rcl_get_default_allocator(), /*autostart=*/true),
+      rcl_get_error_string().str);
+#else
   THROW_ERROR_IF_NOT_EQUAL(
       RCL_RET_OK,
       rcl_timer_init(timer, clock, context, RCL_MS_TO_NS(period_ms), nullptr,
                      rcl_get_default_allocator()),
       rcl_get_error_string().str);
+#endif
 
   auto js_obj = RclHandle::NewInstance(timer, clock_handle, [](void* ptr) {
     rcl_timer_t* timer = reinterpret_cast<rcl_timer_t*>(ptr);

package/types/action_client.d.ts

@@ -139,7 +139,7 @@ declare module 'rclnodejs' {
      * Send a goal and wait for the goal ACK asynchronously.
      *
      * Return a Promise object that is resolved with a ClientGoalHandle when receipt of the goal
-     * is acknowledged by an action server, see client state transition https://index.ros.org/doc/ros2/Tutorials/Understanding-ROS2-Actions/
+     * is acknowledged by an action server, see client state transition https://docs.ros.org/en/jazzy/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Actions/Understanding-ROS2-Actions.html
      *
      * @param goal - The goal request.
      * @param feedbackCallback - Callback function for feedback associated with the goal.

package/types/interfaces.d.ts

@@ -832,6 +832,15 @@ declare module 'rclnodejs' {
       export interface Vector3StampedConstructor {
         new(other?: Vector3Stamped): Vector3Stamped;
       }
+      export interface VelocityStamped {
+        header: std_msgs.msg.Header;
+        body_frame_id: string;
+        reference_frame_id: string;
+        velocity: geometry_msgs.msg.Twist;
+      }
+      export interface VelocityStampedConstructor {
+        new(other?: VelocityStamped): VelocityStamped;
+      }
       export interface Wrench {
         force: geometry_msgs.msg.Vector3;
         torque: geometry_msgs.msg.Vector3;
@@ -3743,6 +3752,7 @@ declare module 'rclnodejs' {
     'geometry_msgs/msg/TwistWithCovarianceStamped': geometry_msgs.msg.TwistWithCovarianceStamped,
     'geometry_msgs/msg/Vector3': geometry_msgs.msg.Vector3,
     'geometry_msgs/msg/Vector3Stamped': geometry_msgs.msg.Vector3Stamped,
+    'geometry_msgs/msg/VelocityStamped': geometry_msgs.msg.VelocityStamped,
     'geometry_msgs/msg/Wrench': geometry_msgs.msg.Wrench,
     'geometry_msgs/msg/WrenchStamped': geometry_msgs.msg.WrenchStamped,
     'lifecycle_msgs/msg/State': lifecycle_msgs.msg.State,
@@ -4120,6 +4130,7 @@ declare module 'rclnodejs' {
     'geometry_msgs/msg/TwistWithCovarianceStamped': geometry_msgs.msg.TwistWithCovarianceStampedConstructor,
     'geometry_msgs/msg/Vector3': geometry_msgs.msg.Vector3Constructor,
     'geometry_msgs/msg/Vector3Stamped': geometry_msgs.msg.Vector3StampedConstructor,
+    'geometry_msgs/msg/VelocityStamped': geometry_msgs.msg.VelocityStampedConstructor,
     'geometry_msgs/msg/Wrench': geometry_msgs.msg.WrenchConstructor,
     'geometry_msgs/msg/WrenchStamped': geometry_msgs.msg.WrenchStampedConstructor,
     'lifecycle_msgs/msg/State': lifecycle_msgs.msg.StateConstructor,