rclnodejs 0.27.4 → 0.28.0

package/CONTRIBUTORS.md

@@ -1,54 +1,63 @@
-rclnodejs contributors (sorted alphabetically)
-==============================================
+# rclnodejs contributors (sorted alphabetically)
+
+- **[Alaa El Jawad](https://github.com/ejalaa12), [Ian McElroy](https://github.com/imcelroy)**
 
-* **[Alaa El Jawad](https://github.com/ejalaa12), [Ian McElroy](https://github.com/imcelroy)**
   - Fix compatibility with ROS2 parameters array types
   - Unit tests for all parameter types
   - Handle concurrent ROS2 client calls, with unit tests
 
-* **[Alex Mikhalev](https://github.com/amikhalev)**
-  * Fix build for AMENT_PREFIX_PATH with multiple entries
-
-* **[Felix Divo](https://github.com/felixdivo)**
-  * Code cleanup of index.js, tests cases & message generation
-  * Improved shutdown behavior
-  * Fixed compilation warnings
-
-* **[Hanyia](https://github.com/hanyia)**
-  * Benchmark test script
-
-* **[Kenny Yuan](https://github.com/kenny-y)**
-  * Message features: JS generation, typed arrays, plain JS object, compound msgs, many others...
-  * npm publish scripts
-  * Mac support
-
-* **[Matt Richard](https://github.com/mattrichard)**
-  * ROS2 Actions
-  * Guard conditions
-  * Node utility methods (countPublishers/subscribers...)
-  * TypeScript improvements
-  * Node 12 compatibility
-
-* **[Minggang Wang](https://github.com/minggangw)**
-  * Author, lead developer, maintainer
-  * Core, CI
-
-* **[Martins Mozeiko](https://github.com/martins-mozeiko)**
-  * QoS new/delete fix
-
-* **[Qiuzhong](https://github.com/qiuzhong)**
-  * Test coverage for actions, topics, multi-array messages, cross platform, security
-  * Converted from setTimeout to ROS2 Timer
-
-* **[Teo Koon Peng](https://github.com/koonpeng)**
-  * TypeScript improvements
-  * Added Client#waitForService
-  * Code style improvements, e.g., Prettier formatting
-  * Improved code generation smarts and efficiency
-
-* **[Wayne Parrott](https://github.com/wayneparrott)**
-  * TypeScript support with interface generation
-  * ROS2 parameter support
-  * ROS2 lifecycle node
-  * Rate class
-  * Node class hierarchy
+- **[Alex Mikhalev](https://github.com/amikhalev)**
+
+  - Fix build for AMENT_PREFIX_PATH with multiple entries
+
+- **[Felix Divo](https://github.com/felixdivo)**
+
+  - Code cleanup of index.js, tests cases & message generation
+  - Improved shutdown behavior
+  - Fixed compilation warnings
+
+- **[Hanyia](https://github.com/hanyia)**
+
+  - Benchmark test script
+
+- **[Kenny Yuan](https://github.com/kenny-y)**
+
+  - Message features: JS generation, typed arrays, plain JS object, compound msgs, many others...
+  - npm publish scripts
+  - Mac support
+
+- **[Matt Richard](https://github.com/mattrichard)**
+
+  - ROS2 Actions
+  - Guard conditions
+  - Node utility methods (countPublishers/subscribers...)
+  - TypeScript improvements
+  - Node 12 compatibility
+
+- **[Minggang Wang](https://github.com/minggangw)**
+
+  - Author, lead developer, maintainer
+  - Core, CI
+
+- **[Martins Mozeiko](https://github.com/martins-mozeiko)**
+
+  - QoS new/delete fix
+
+- **[Qiuzhong](https://github.com/qiuzhong)**
+
+  - Test coverage for actions, topics, multi-array messages, cross platform, security
+  - Converted from setTimeout to ROS2 Timer
+
+- **[Teo Koon Peng](https://github.com/koonpeng)**
+
+  - TypeScript improvements
+  - Added Client#waitForService
+  - Code style improvements, e.g., Prettier formatting
+  - Improved code generation smarts and efficiency
+
+- **[Wayne Parrott](https://github.com/wayneparrott)**
+  - TypeScript support with interface generation
+  - ROS2 parameter support
+  - ROS2 lifecycle node
+  - Rate class
+  - Node class hierarchy

package/README.md

@@ -1,4 +1,4 @@
-# rclnodejs ![GitHub Workflow Status](https://github.com/RobotWebTools/rclnodejs/actions/workflows/linux-build-and-test.yml/badge.svg?branch=iron-irwini)
+# rclnodejs ![GitHub Workflow Status](https://github.com/RobotWebTools/rclnodejs/actions/workflows/linux-build-and-test.yml/badge.svg?branch=jazzy)
 
 `rclnodejs` is a Node.js client for the Robot Operating System (ROS 2). It provides a simple and easy JavaScript API for ROS 2 programming. TypeScript declarations are included to support use of rclnodejs in TypeScript projects.
 
@@ -43,9 +43,9 @@ npm i rclnodejs@x.y.z
 
 #### RCLNODEJS - ROS 2 Version Compatibility
 
-|                                      RCLNODEJS Version                                       |                                                               Compatible ROS 2 LTS                                                                |
-| :------------------------------------------------------------------------------------------: | :-----------------------------------------------------------------------------------------------------------------------------------------------: |
-| latest version (currently [v0.22.3](https://github.com/RobotWebTools/rclnodejs/tree/0.22.3)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Iron](https://github.com/RobotWebTools/rclnodejs/tree/iron-irwini) |
+|                                      RCLNODEJS Version                                       |                                                             Compatible ROS 2 LTS                                                             |
+| :------------------------------------------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------: |
+| latest version (currently [v0.28.0](https://github.com/RobotWebTools/rclnodejs/tree/0.28.0)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy) |
 
 ## Documentation
 

package/electron_demo/README.md

@@ -0,0 +1,54 @@
+# Rclnodejs Electron demo
+
+## Introduction
+
+This is a minimal rclnodejs demo using Electron. More information about Electron, please check with [Electron documentation](https://electronjs.org/docs/latest/tutorial/quick-start).
+
+The demo includes the following files:
+
+- `package.json` - Points to the app's main file and lists its details and dependencies.
+- `main.js` - Introduces the `rclnodejs` native module, starts the app and creates a browser window to render HTML. This is the app's **main process**.
+- `index.html` - Includes a text editor where you can input the the topic to be published. This is the app's **renderer process**.
+- `renderer.js` - Communicate with main process to publish a topic and get it through a subscription.
+
+## To run the demo
+
+Before starting, please ensure you have installed [nodejs](https://nodejs.org/en).
+
+1. Clone this repository.
+
+```bash
+git clone https://github.com/RobotWebTools/rclnodejs.git
+```
+
+2. Go into the demo.
+```bash
+cd rclnodejs/electron_demo
+```
+
+3. [SOURCE THE ROS 2 SETUP FILE](https://docs.ros.org/en/jazzy/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html#source-the-setup-files)
+
+4. Install dependencies
+```bash
+npm install
+```
+
+5. Rebuild rclnodejs for Electron
+```bash
+# Every time you run "npm install", run this:
+./node_modules/.bin/electron-rebuild
+```
+
+6. Run the app
+```
+npm start
+```
+
+If it works, you can see the demo as:
+![demo screenshot](./electron-demo.gif)
+
+## Resources for Learning Electron
+
+- [electronjs.org/docs](https://electronjs.org/docs) - all of Electron's documentation.
+- [Native Node Modules](https://www.electronjs.org/docs/latest/tutorial/using-native-node-modules) - Use a native node module.
+

package/electron_demo/index.html

@@ -0,0 +1,25 @@
+<!DOCTYPE html>
+<html>
+
+<head>
+  <meta charset="UTF-8">
+  <meta http-equiv="Content-Security-Policy"
+    content="default-src 'self'; script-src 'self'; style-src 'self' 'unsafe-inline'">
+  <title>RCLNODEJS Electron Demo</title>
+</head>
+
+<body>
+  <div>
+    <div style="height: 20px;"></div>
+    <div>
+      <input id="topic-input"></input>
+      <button id="publish-topic">Publish topic</button>
+    </div>
+    <div style="height: 20px;"></div>
+    <span>Received topic:</span>
+    <span id="received-topic"></span>
+  </div>
+  <script src="./renderer.js"></script>
+</body>
+
+</html>

package/electron_demo/main.js

@@ -0,0 +1,66 @@
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+const { app, BrowserWindow } = require('electron')
+let rclnodejs = require("rclnodejs");
+const { ipcMain } = require('electron');
+
+function createWindow() {
+  // Create the browser window.
+  const mainWindow = new BrowserWindow({
+    width: 800,
+    height: 600,
+    webPreferences: {
+      // Add the following two lines in order to use require() in renderer, see details
+      // https://stackoverflow.com/questions/44391448/electron-require-is-not-defined
+      nodeIntegration: true,
+      contextIsolation: false,
+    }
+  });
+
+  mainWindow.loadFile('index.html');
+}
+
+// This method will be called when Electron has finished
+// initialization and is ready to create browser windows.
+// Some APIs can only be used after this event occurs.
+app.whenReady().then(() => {
+  createWindow();
+  rclnodejs.init().then(() => {
+    let sender = null;
+    const node = rclnodejs.createNode('publisher_example_node');
+    node.createSubscription('std_msgs/msg/String', 'topic', (msg) => {
+      if (sender) {
+        sender.send('topic-received', msg.data);
+      }
+    });
+    const publisher = node.createPublisher('std_msgs/msg/String', 'topic');
+    ipcMain.on('publish-topic', (event, topic) => {
+      publisher.publish(topic);
+      sender = event.sender;
+    });
+    rclnodejs.spin(node);
+  });
+
+  app.on('activate', function () {
+    // On macOS it's common to re-create a window in the app when the
+    // dock icon is clicked and there are no other windows open.
+    if (BrowserWindow.getAllWindows().length === 0) createWindow();
+  });
+});
+
+// Quit when all windows are closed, except on macOS. There, it's common
+// for applications and their menu bar to stay active until the user quits
+// explicitly with Cmd + Q.
+app.on('window-all-closed', function () {
+  if (process.platform !== 'darwin') app.quit()
+});

package/electron_demo/package.json

@@ -0,0 +1,22 @@
+{
+  "name": "rclnodejs-electron-demo",
+  "version": "1.0.0",
+  "description": "A minimal rclnodejs Electron application",
+  "main": "main.js",
+  "scripts": {
+    "start": "electron ."
+  },
+  "keywords": [
+    "Electron",
+    "rclnodejs",
+    "demo"
+  ],
+  "license": "Apache",
+  "dependencies": {
+    "rclnodejs": "^0.27.4"
+  },
+  "devDependencies": {
+    "@electron/rebuild": "^3.6.0",
+    "electron": "^31.0.0"
+  }
+}

package/electron_demo/renderer.js

@@ -0,0 +1,22 @@
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+const { ipcRenderer } = require('electron');
+
+ipcRenderer.on('topic-received', function (event, response) {
+  document.getElementById('received-topic').innerText = response;
+});
+
+document.getElementById('publish-topic').addEventListener('click', () => {
+  const topic = document.getElementById('topic-input').value;
+  ipcRenderer.send('publish-topic', topic);
+});

package/lib/client.js

@@ -58,7 +58,6 @@ class Client extends Entity {
       request instanceof this._typeClass.Request
         ? request
         : new this._typeClass.Request(request);
-    requestToSend._willCheckConsistency = this._options.willCheckConsistency;
 
     let rawRequest = requestToSend.serialize();
     let sequenceNumber = rclnodejs.sendRequest(this._handle, rawRequest);

package/lib/lifecycle_publisher.js

@@ -27,7 +27,7 @@ const Publisher = require('./publisher.js');
  */
 class LifecyclePublisher extends Publisher {
   constructor(handle, typeClass, topic, options) {
-    super(handle, typeClass, /*topic=*/'', options);
+    super(handle, typeClass, /*topic=*/ '', options);
 
     this._enabled = false;
     this._loggger = Logging.getLogger('LifecyclePublisher');

package/lib/node.js

@@ -116,7 +116,7 @@ class Node extends rclnodejs.ShadowNode {
     // override cli parameterOverrides with those specified in options
     if (options.parameterOverrides.length > 0) {
       for (const parameter of options.parameterOverrides) {
-        if (!parameter instanceof Parameter) {
+        if ((!parameter) instanceof Parameter) {
           throw new TypeError(
             'Parameter-override must be an instance of Parameter.'
           );
@@ -502,10 +502,6 @@ class Node extends rclnodejs.ShadowNode {
       options = Object.assign(options, { isRaw: false });
     }
 
-    if (options.willCheckConsistency === undefined) {
-      options = Object.assign(options, { willCheckConsistency: false });
-    }
-
     return options;
   }
 
@@ -592,7 +588,6 @@ class Node extends rclnodejs.ShadowNode {
    * @param {object} options - The options argument used to parameterize the publisher.
    * @param {boolean} options.enableTypedArray - The topic will use TypedArray if necessary, default: true.
    * @param {QoS} options.qos - ROS Middleware "quality of service" settings for the publisher, default: QoS.profileDefault.
-   * @param {boolean} options.willCheckConsistency - Pulisher will check the consistancy of the message to be sent, default: false.
    * @return {Publisher} - An instance of Publisher.
    */
   createPublisher(typeClass, topic, options) {
@@ -695,7 +690,6 @@ class Node extends rclnodejs.ShadowNode {
    * @param {object} options - The options argument used to parameterize the client.
    * @param {boolean} options.enableTypedArray - The response will use TypedArray if necessary, default: true.
    * @param {QoS} options.qos - ROS Middleware "quality of service" settings for the client, default: QoS.profileDefault.
-   * @param {boolean} options.willCheckConsistency - Client will check the consistancy of the message to be sent, default: false.
    * @return {Client} - An instance of Client.
    */
   createClient(typeClass, serviceName, options) {
@@ -1696,7 +1690,6 @@ Node.getDefaultOptions = function () {
     isRaw: false,
     qos: QoS.profileDefault,
     contentFilter: undefined,
-    willCheckConsistency: false
   };
 };
 

package/lib/publisher.js

@@ -53,7 +53,6 @@ class Publisher extends Entity {
         message instanceof this._typeClass
           ? message
           : new this._typeClass(message);
-      messageToSend._willCheckConsistency = this._options.willCheckConsistency;
       let rawMessage = messageToSend.serialize();
       rclnodejs.publish(this._handle, rawMessage);
     }

package/lib/service.js

@@ -75,18 +75,19 @@ class Service extends Entity {
 
     const plainObj = request.toPlainObject(this.typedArrayEnabled);
     const response = new Response(this, headerHandle);
-    Promise.resolve(this._callback(plainObj, response)).then((responseToReturn) => {
-
-      if (!response.sent && responseToReturn) {
-        responseToReturn = new this._typeClass.Response(responseToReturn);
-        const rawResponse = responseToReturn.serialize();
-        rclnodejs.sendResponse(this._handle, rawResponse, headerHandle);
+    Promise.resolve(this._callback(plainObj, response)).then(
+      (responseToReturn) => {
+        if (!response.sent && responseToReturn) {
+          responseToReturn = new this._typeClass.Response(responseToReturn);
+          const rawResponse = responseToReturn.serialize();
+          rclnodejs.sendResponse(this._handle, rawResponse, headerHandle);
+        }
+
+        debug(
+          `Service has processed the ${this._serviceName} request and sent the response.`
+        );
       }
-
-      debug(
-        `Service has processed the ${this._serviceName} request and sent the response.`
-      );
-    });
+    );
   }
 
   static createService(nodeHandle, serviceName, typeClass, options, callback) {

package/lib/time_source.js

@@ -102,7 +102,7 @@ class TimeSource {
    * @return {undefined}
    */
   attachNode(node) {
-    if (!node instanceof rclnodejs.ShadowNode) {
+    if ((!node) instanceof rclnodejs.ShadowNode) {
       throw new TypeError('Invalid argument, must be type of Node');
     }
 

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rclnodejs",
-  "version": "0.27.4",
+  "version": "0.28.0",
   "description": "ROS2.0 JavaScript client with Node.js",
   "main": "index.js",
   "types": "types/index.d.ts",
@@ -18,6 +18,7 @@
     "rebuild": "npm run clean && node-gyp -j 16 rebuild",
     "rebuild:dev": "npm run clean && node-gyp -j 16 rebuild --debug",
     "generate-messages": "node scripts/generate_messages.js",
+    "generate-messages:dev": "node scripts/generate_messages.js --debug",
     "clean": "node-gyp clean && rimraf ./generated",
     "install": "npm run rebuild",
     "postinstall": "npm run generate-messages",
@@ -25,7 +26,8 @@
     "test": "node --expose-gc ./scripts/run_test.js && npm run dtslint",
     "dtslint": "node scripts/generate_tsd.js",
     "lint": "eslint --max-warnings=0 --ext js,ts index.js types scripts lib example rosidl_gen rosidl_parser test benchmark/rclnodejs && node ./scripts/cpplint.js",
-    "format": "clang-format -i -style=file ./src/*.cpp ./src/*.hpp && prettier --write \"{lib,rosidl_gen,rostsd_gen,rosidl_parser,types,example,test,scripts,benchmark}/**/*.{js,md,ts}\" ./*.{js,md,ts}"
+    "format": "clang-format -i -style=file ./src/*.cpp ./src/*.hpp && prettier --write \"{lib,rosidl_gen,rostsd_gen,rosidl_parser,types,example,test,scripts,benchmark}/**/*.{js,md,ts}\" ./*.{js,md,ts}",
+    "prepare": "husky"
   },
   "bin": {
     "generate-ros-messages": "./scripts/generate_messages.js"
@@ -41,45 +43,47 @@
     "type": "git",
     "url": "git+https://github.com/RobotWebTools/rclnodejs.git"
   },
+  "//": "Pin deep-equal to ^1.1.1",
   "devDependencies": {
-    "@babel/eslint-parser": "^7.22.15",
-    "@typescript-eslint/eslint-plugin": "^6.6.0",
-    "@typescript-eslint/parser": "^6.6.0",
+    "@babel/eslint-parser": "^7.25.9",
+    "@typescript-eslint/eslint-plugin": "^8.18.0",
+    "@typescript-eslint/parser": "^8.18.0",
     "babel-eslint": "^10.1.0",
     "clang-format": "^1.8.0",
-    "commander": "^11.0.0",
+    "commander": "^12.1.0",
     "deep-equal": "^1.1.1",
-    "eslint": "^8.49.0",
-    "eslint-config-prettier": "^9.0.0",
-    "eslint-plugin-prettier": "^5.0.0",
-    "husky": "^8.0.3",
-    "jsdoc": "^4.0.2",
-    "lint-staged": "^14.0.1",
-    "mocha": "^10.2.0",
-    "prettier": "^3.0.3",
-    "sinon": "^15.2.0",
+    "eslint": "^9.16.0",
+    "eslint-config-prettier": "^9.1.0",
+    "eslint-plugin-prettier": "^5.2.1",
+    "husky": "^9.1.7",
+    "jsdoc": "^4.0.4",
+    "lint-staged": "^15.2.10",
+    "mocha": "^11.0.2",
+    "sinon": "^19.0.2",
     "tree-kill": "^1.2.2",
-    "typescript": "^4.9.3"
+    "typescript": "^5.7.2"
   },
+  "//": "Pin int64-napi to ^1.0.2",
   "dependencies": {
     "@rclnodejs/ref-array-di": "^1.2.2",
     "@rclnodejs/ref-napi": "^4.0.0",
     "@rclnodejs/ref-struct-di": "^1.1.1",
     "array.prototype.flat": "^1.3.2",
     "bindings": "^1.5.0",
-    "compare-versions": "^6.1.0",
-    "debug": "^4.3.4",
+    "compare-versions": "^6.1.1",
+    "debug": "^4.4.0",
     "dot": "^1.1.3",
     "dtslint": "^4.2.1",
-    "fs-extra": "^11.1.1",
+    "fs-extra": "^11.2.0",
     "int64-napi": "^1.0.2",
     "is-close": "^1.3.3",
     "mkdirp": "^3.0.1",
     "mz": "^2.7.0",
-    "nan": "^2.17.0",
-    "rimraf": "^5.0.1",
-    "uuid": "^9.0.0",
-    "walk": "^2.3.15"
+    "nan": "^2.22.0",
+    "rimraf": "^6.0.1",
+    "uuid": "^11.0.3",
+    "walk": "^2.3.15",
+    "prettier": "^3.4.2"
   },
   "husky": {
     "hooks": {

package/rosidl_gen/generator.json

@@ -1,6 +1,6 @@
 {
   "name": "rosidl-generator",
-  "version": "0.3.9",
+  "version": "0.4.0",
   "description": "Generate JavaScript object from ROS IDL(.msg) files",
   "main": "index.js",
   "authors": [

package/rosidl_gen/idl_generator.js

@@ -15,6 +15,7 @@
 'use strict';
 
 const dot = require('dot');
+const prettier = require('prettier');
 const fse = require('fs-extra');
 const path = require('path');
 const parser = require('../rosidl_parser/rosidl_parser.js');
@@ -23,6 +24,7 @@ const DistroUtils = require('../lib/distro.js');
 
 dot.templateSettings.strip = false;
 dot.log = process.env.RCLNODEJS_LOG_VERBOSE || false;
+const isDebug = !!process.argv.find((arg) => arg === '--debug');
 const dots = dot.process({
   path: path.join(__dirname, '../rosidl_gen/templates'),
 });
@@ -39,6 +41,9 @@ function removeEmptyLines(str) {
  * @param {string} code
  */
 async function writeGeneratedCode(dir, fileName, code) {
+  if (fileName.endsWith('.js')) {
+    code = await prettier.format(code, { parser: 'babel' });
+  }
   await fse.mkdirs(dir);
   await fse.writeFile(path.join(dir, fileName), code);
 }
@@ -119,6 +124,7 @@ async function generateServiceEventJSStruct(msgInfo, dir) {
       messageInfo: msgInfo,
       spec: spec,
       json: JSON.stringify(spec, null, '  '),
+      isDebug: isDebug,
     })
   );
 
@@ -148,6 +154,7 @@ function generateMessageJSStructFromSpec(messageInfo, dir, spec) {
       messageInfo: messageInfo,
       spec: spec,
       json: JSON.stringify(spec, null, '  '),
+      isDebug: isDebug,
     })
   );
   return writeGeneratedCode(dir, fileName, generatedCode);

package/rosidl_gen/message_translator.js

@@ -149,7 +149,10 @@ function toPlainObject(message, enableTypedArray = 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') {
+      } 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 {

package/rosidl_gen/packages.js

@@ -148,10 +148,10 @@ async function generateMsgForSrv(filePath, interfaceInfo, pkgMap) {
     await fsp.writeFile(path.join(packagePath, responseMsgName), arr[1]);
     let requestInfo = Object.assign({}, interfaceInfo);
     requestInfo.filePath = path.join(packagePath, requestMsgName);
-    requestInfo.interfaceName = requestInfo.interfaceName + "_Request"
+    requestInfo.interfaceName = requestInfo.interfaceName + '_Request';
     let responseInfo = Object.assign({}, interfaceInfo);
     responseInfo.filePath = path.join(packagePath, responseMsgName);
-    responseInfo.interfaceName = responseInfo.interfaceName + "_Response"
+    responseInfo.interfaceName = responseInfo.interfaceName + '_Response';
 
     addInterfaceInfo(requestInfo, 'messages', pkgMap);
     addInterfaceInfo(responseInfo, 'messages', pkgMap);
@@ -199,7 +199,7 @@ async function findAmentPackagesInDirectory(dir) {
   const rosFiles = Array.prototype.flat ? files.flat() : flat(files);
   const pkgMap = new Map();
   await Promise.all(
-    rosFiles.map(filePath => addInterfaceInfos(filePath, dir, pkgMap))
+    rosFiles.map((filePath) => addInterfaceInfos(filePath, dir, pkgMap))
   );
   return pkgMap;
 }

package/rosidl_gen/primitive_types.js

@@ -28,14 +28,14 @@ const StringRefStruct = StructType({
 
 function initString(str, own = false) {
   if (own) {
-    if (!str instanceof Buffer) {
+    if ((!str) instanceof Buffer) {
       throw new TypeError(
         'Invalid argument: should provide a Node Buffer to bindingsStringInit()'
       );
     }
     rclnodejs.initString(str);
   } else {
-    if (!str instanceof StringRefStruct) {
+    if ((!str) instanceof StringRefStruct) {
       throw new TypeError(
         'Invalid argument: should provide a type of StringRefStruct'
       );