rclnodejs 0.27.2 → 0.27.4

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rclnodejs",
-  "version": "0.27.2",
+  "version": "0.27.4",
   "description": "ROS2.0 JavaScript client with Node.js",
   "main": "index.js",
   "types": "types/index.d.ts",

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/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 > 2305  // After Iron.
+  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/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,