rclnodejs 0.28.1 → 0.30.0

package/README.md

@@ -45,7 +45,7 @@ npm i rclnodejs@x.y.z
 
 |                                      RCLNODEJS Version                                       |                                                             Compatible ROS 2 LTS                                                             |
 | :------------------------------------------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------: |
-| latest version (currently [v0.28.1](https://github.com/RobotWebTools/rclnodejs/tree/0.28.1)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy) |
+| latest version (currently [v0.30.0](https://github.com/RobotWebTools/rclnodejs/tree/0.30.0)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy) |
 
 ## Documentation
 

package/binding.gyp

@@ -10,6 +10,8 @@
   'variables': {
     'ros_version': '<!(node scripts/ros_distro.js)',
     'runtime%': 'node',
+    'ros_lib_dir': "<!(node -p \"require('./scripts/config.js').getROSLibPath()\")",
+    'ros_include_root': "<!(node -p \"require('./scripts/config.js').getROSIncludeRootPath()\")",
   },
   'targets': [
     {
@@ -28,6 +30,7 @@
       'include_dirs': [
         '.',
         "<!(node -e \"require('nan')\")",
+        '<(ros_include_root)',
       ],
       'cflags!': [
         '-fno-exceptions'
@@ -61,45 +64,11 @@
             ],
             'cflags_cc': [
               '-std=c++20'
-            ],
-            'include_dirs': 
-            [
-              "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/ ') + '/include/')\")",
-            ],
-            'library_dirs': [
-              "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/lib/ ') + '/lib/')\")",
-            ],
-            'conditions': [
-              [
-                'ros_version > 2105', # Humble, Rolling, ...
-                {
-                  'include_dirs': 
-                  [
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/ ') + '/include/')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/rcl/ ') + '/include/rcl')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/rcutils/ ') + '/include/rcutils/')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/rmw/ ') + '/include/rmw/')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/rcl_yaml_param_parser/ ') + '/include/rcl_yaml_param_parser/')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/rosidl_typesupport_interface/ ') + '/include/rosidl_typesupport_interface/')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/rcl_action/ ') + '/include/rcl_action/')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/action_msgs/ ') + '/include/action_msgs/')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/service_msgs/ ') + '/include/service_msgs/')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/unique_identifier_msgs/ ') + '/include/unique_identifier_msgs/')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/builtin_interfaces/ ') + '/include/builtin_interfaces/')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/rcl_lifecycle/ ') + '/include/rcl_lifecycle/')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/lifecycle_msgs/ ') + '/include/lifecycle_msgs/')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/rosidl_runtime_c/ ') + '/include/rosidl_runtime_c/')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/rosidl_dynamic_typesupport/ ') + '/include/rosidl_dynamic_typesupport/')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/type_description_interfaces/ ') + '/include/type_description_interfaces/')\")",
-                  ],
-                }
-              ],
-            ],
+            ]
           }
         ],
         [
-          'OS=="win"',
-          {
+          'OS=="win"', {
             'defines': [
               'OS_WINDOWS'
             ],
@@ -108,7 +77,6 @@
             ],
             'include_dirs': [
               './src/third_party/dlfcn-win32/',
-              "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include ').replace(/\\\/g, '/') + '/include')\")",
             ],
             'msvs_settings': {
               'VCCLCompilerTool': {
@@ -116,49 +84,17 @@
               },
               'VCLinkerTool': {
                 'AdditionalDependencies': ['psapi.lib'],
-                'AdditionalLibraryDirectories': ["<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '\\\lib ').replace(/\\\/g, '/') + '/lib')\")",],
+                'AdditionalLibraryDirectories': ['<(ros_lib_dir)'],
               }
-            },
-            'conditions': [
-              [ 
-                'ros_version > 2105', # Humble, Rolling, ... TODO - not tested due to broken setup_ros v3.3 action on windows 
-                {
-                  'include_dirs': 
-                  [
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/rcl ').replace(/\\\/g, '/') + '/include/rcl')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/rcutils ').replace(/\\\/g, '/') + '/include/rcutils')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/rmw ').replace(/\\\/g, '/') + '/include/rmw')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/rcl_yaml_param_parser ').replace(/\\\/g, '/') + '/include/rcl_yaml_param_parser')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/rosidl_runtime_c ').replace(/\\\/g, '/') + '/include/rosidl_runtime_c')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/rosidl_typesupport_interface ').replace(/\\\/g, '/') + '/include/rosidl_typesupport_interface')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/rcl_action ').replace(/\\\/g, '/') + '/include/rcl_action')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/action_msgs ').replace(/\\\/g, '/') + '/include/action_msgs')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/service_msgs ').replace(/\\\/g, '/') + '/include/service_msgs')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/unique_identifier_msgs ').replace(/\\\/g, '/') + '/include/unique_identifier_msgs')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/builtin_interfaces ').replace(/\\\/g, '/') + '/include/builtin_interfaces')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/rcl_lifecycle ').replace(/\\\/g, '/') + '/include/rcl_lifecycle')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/lifecycle_msgs ').replace(/\\\/g, '/') + '/include/lifecycle_msgs')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/rosidl_dynamic_typesupport ').replace(/\\\/g, '/') + '/include/rosidl_dynamic_typesupport')\")",
-                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/type_description_interfaces/ ').replace(/\\\/g, '/') + '/include/type_description_interfaces/')\")",
-                  ],
-                }
-              ]
-            ]
+            }
           }
         ],
         [
-          'OS=="mac"',
           # TODO - macos is no longer a tier-1 ROS platform and we have no binary ROS builds to test for Humble & Rolling
-          {
+          'OS=="mac"', {
             'defines': [
               'OS_MACOS'
             ],
-            'include_dirs': [
-              "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/ ') + '/include/')\")",
-            ],
-            'library_dirs': [
-                "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/lib/ ') + '/lib/')\")",
-            ],
             'xcode_settings': {
               'GCC_ENABLE_CPP_EXCEPTIONS': 'YES',
               'CLANG_CXX_LIBRARY': 'libc++',
@@ -168,8 +104,7 @@
           }
         ],
         [
-          'ros_version<=1911',
-          {
+          'ros_version <= 1911', {
             'libraries': [
               '-lrosidl_generator_c'
             ],
@@ -178,9 +113,22 @@
             ]
           }
         ],
-        ['runtime=="electron"', {
-          "defines": ["NODE_RUNTIME_ELECTRON=1"]
-        }],
+        [
+          # After Galactic, e.g., Humble, Jazzy, Rolling.
+          'ros_version > 2105', {
+            'include_dirs': [
+              "<!@(node -p \"require('./scripts/config.js').getIncludePaths().forEach(p => console.log(JSON.stringify(p)))\")"
+            ],
+            'library_dirs': [
+              '<(ros_lib_dir)',
+            ]
+          }
+        ],
+        [
+          'runtime=="electron"', {
+            "defines": ["NODE_RUNTIME_ELECTRON=1"]
+          }
+        ],
       ]
     }
   ]

package/lib/node.js

@@ -1273,6 +1273,26 @@ class Node extends rclnodejs.ShadowNode {
     return params;
   }
 
+  /**
+   * Get the types of given parameters.
+   *
+   * Return the types of given parameters.
+   *
+   * @param {string[]} [names] - The names of the declared parameters.
+   * @return {Uint8Array} - The types.
+   */
+  getParameterTypes(names = []) {
+    let types = [];
+
+    for (const name of names) {
+      const descriptor = this._parameterDescriptors.get(name);
+      if (descriptor) {
+        types.push(descriptor.type);
+      }
+    }
+    return types;
+  }
+
   /**
    * Get the names of all declared parameters.
    *

package/lib/parameter.js

@@ -34,6 +34,7 @@ const rclnodejs = require('bindings')('rclnodejs');
 const DEFAULT_NUMERIC_RANGE_TOLERANCE = 1e-6;
 
 const PARAMETER_SEPARATOR = '.';
+const PARAMETER_BYTE = 10;
 
 /**
  * Enum for ParameterType
@@ -125,7 +126,9 @@ class Parameter {
   constructor(name, type, value) {
     this._name = name;
     this._type = type;
-    this._value = value;
+    // Convert to bigint if it's type of `PARAMETER_INTEGER`.
+    this._value =
+      this._type == ParameterType.PARAMETER_INTEGER ? BigInt(value) : value;
     this._isDirty = true;
 
     this.validate();
@@ -240,10 +243,10 @@ class Parameter {
         msg.double_array_value = this.value;
         break;
       case ParameterType.PARAMETER_INTEGER:
-        msg.integer_value = Math.trunc(this.value);
+        msg.integer_value = this.value;
         break;
       case ParameterType.PARAMETER_INTEGER_ARRAY:
-        msg.integer_array_value = this.value.map((val) => Math.trunc(val));
+        msg.integer_array_value = this.value;
         break;
       case ParameterType.PARAMETER_STRING:
         msg.string_value = this.value;
@@ -537,10 +540,10 @@ class Range {
 
   /**
    * Determine if a value is within this range.
-   * A TypeError is thrown when value is not a number.
+   * A TypeError is thrown when value is not a number or bigint.
    * Subclasses should override and call this method for basic type checking.
    *
-   * @param {number} value - The number to check.
+   * @param {number|bigint} value - The number or bigint to check.
    * @return {boolean} - True if value satisfies the range; false otherwise.
    */
   inRange(value) {
@@ -550,8 +553,8 @@ class Range {
         (inRange, val) => inRange && this.inRange(val),
         true
       );
-    } else if (typeof value !== 'number') {
-      throw new TypeError('Value must be a number');
+    } else if (typeof value !== 'number' && typeof value !== 'bigint') {
+      throw new TypeError('Value must be a number or bigint');
     }
 
     return true;
@@ -652,27 +655,16 @@ class FloatingPointRange extends Range {
  * Defines a range for integer values.
  * @class
  */
-class IntegerRange extends FloatingPointRange {
+class IntegerRange extends Range {
   /**
    * Create a new instance.
    * @constructor
-   * @param {number} fromValue - The lowest inclusive value in range
-   * @param {number} toValue - The highest inclusive value in range
-   * @param {number} step - The internal unit size.
-   * @param {number} tolerance - The plus/minus tolerance for number equivalence.
+   * @param {bigint} fromValue - The lowest inclusive value in range
+   * @param {bigint} toValue - The highest inclusive value in range
+   * @param {bigint} step - The internal unit size.
    */
-  constructor(
-    fromValue,
-    toValue,
-    step = 1,
-    tolerance = DEFAULT_NUMERIC_RANGE_TOLERANCE
-  ) {
-    super(
-      Math.trunc(fromValue),
-      Math.trunc(toValue),
-      Math.trunc(step),
-      tolerance
-    );
+  constructor(fromValue, toValue, step = 1n) {
+    super(fromValue, toValue, step);
   }
 
   /**
@@ -683,12 +675,23 @@ class IntegerRange extends FloatingPointRange {
    */
   isValidType(parameterType) {
     const result =
-      parameterType === ParameterType.PARAMETER_BYTE ||
-      parameterType === ParameterType.PARAMETER_BYTE_ARRAY ||
       parameterType === ParameterType.PARAMETER_INTEGER ||
       parameterType === ParameterType.PARAMETER_INTEGER_ARRAY;
     return result;
   }
+
+  inRange(value) {
+    const min = this.fromValue;
+    const max = this.toValue;
+    if (value < min || value > max) {
+      return false;
+    }
+
+    if (this.step != 0n && (value - min) % this.step !== 0n) {
+      return false;
+    }
+    return true;
+  }
 }
 
 /**
@@ -763,10 +766,13 @@ function validValue(value, type) {
     case ParameterType.PARAMETER_STRING:
       result = typeof value === 'string';
       break;
-    case ParameterType.PARAMETER_INTEGER:
     case ParameterType.PARAMETER_DOUBLE:
+    case PARAMETER_BYTE:
       result = typeof value === 'number';
       break;
+    case ParameterType.PARAMETER_INTEGER:
+      result = typeof value === 'bigint';
+      break;
     case ParameterType.PARAMETER_BOOL_ARRAY:
     case ParameterType.PARAMETER_BYTE_ARRAY:
     case ParameterType.PARAMETER_INTEGER_ARRAY:
@@ -789,7 +795,7 @@ function _validArray(values, type) {
   if (type === ParameterType.PARAMETER_BOOL_ARRAY) {
     arrayElementType = ParameterType.PARAMETER_BOOL;
   } else if (type === ParameterType.PARAMETER_BYTE_ARRAY) {
-    arrayElementType = ParameterType.PARAMETER_INTEGER;
+    arrayElementType = PARAMETER_BYTE;
   }
   if (type === ParameterType.PARAMETER_INTEGER_ARRAY) {
     arrayElementType = ParameterType.PARAMETER_INTEGER;

package/lib/parameter_service.js

@@ -110,6 +110,16 @@ class ParameterService {
       }
     );
 
+    // Create GetParameterTypes service.
+    const getParameterTypesServiceName = nodeName + '/get_parameter_types';
+    this._node.createService(
+      'rcl_interfaces/srv/GetParameterTypes',
+      getParameterTypesServiceName,
+      (request, response) => {
+        this._handleGetParameterTypes(request, response);
+      }
+    );
+
     // create SetParametersAtomically service
     const setParametersAtomicallyServiceName =
       nodeName + '/set_parameters_atomically';
@@ -266,6 +276,23 @@ class ParameterService {
     response.send(msg);
   }
 
+  /**
+   * Get a list of parameter types.
+   *
+   * request.names identifies the parameter types to get.
+   *
+   * @param {GetParameterTypes_Request} request - The client request.
+   * @param {GetParameterTypes_Response} response - The service response with
+   *    Uint8Array.
+   * @return {undefined} -
+   */
+  _handleGetParameterTypes(request, response) {
+    const types = this._node.getParameterTypes(request.names);
+    const msg = response.template;
+    msg.types = types;
+    response.send(msg);
+  }
+
   /**
    * Update a list of parameters atomically.
    *

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rclnodejs",
-  "version": "0.28.1",
+  "version": "0.30.0",
   "description": "ROS2.0 JavaScript client with Node.js",
   "main": "index.js",
   "types": "types/index.d.ts",
@@ -50,10 +50,10 @@
     "@typescript-eslint/parser": "^8.18.0",
     "babel-eslint": "^10.1.0",
     "clang-format": "^1.8.0",
-    "commander": "^12.1.0",
+    "commander": "^13.1.0",
     "deep-equal": "^1.1.1",
     "eslint": "^9.16.0",
-    "eslint-config-prettier": "^9.1.0",
+    "eslint-config-prettier": "^10.0.1",
     "eslint-plugin-prettier": "^5.2.1",
     "husky": "^9.1.7",
     "jsdoc": "^4.0.4",
@@ -75,6 +75,7 @@
     "dot": "^1.1.3",
     "dtslint": "^4.2.1",
     "fs-extra": "^11.2.0",
+    "json-bigint": "^1.0.0",
     "int64-napi": "^1.0.2",
     "is-close": "^1.3.3",
     "mkdirp": "^3.0.1",

package/rosidl_gen/generator.json

@@ -1,6 +1,6 @@
 {
   "name": "rosidl-generator",
-  "version": "0.4.0",
+  "version": "0.5.0",
   "description": "Generate JavaScript object from ROS IDL(.msg) files",
   "main": "index.js",
   "authors": [

package/rosidl_gen/message_translator.js

@@ -27,7 +27,12 @@ function copyMsgObject(msg, obj) {
     for (let i in obj) {
       if (msg.hasMember(i)) {
         const type = typeof obj[i];
-        if (type === 'string' || type === 'number' || type === 'boolean') {
+        if (
+          type === 'string' ||
+          type === 'number' ||
+          type === 'boolean' ||
+          type === 'bigint'
+        ) {
           // A primitive-type value
           msg[i] = obj[i];
         } else if (Array.isArray(obj[i]) || isTypedArray(obj[i])) {
@@ -80,17 +85,20 @@ function verifyMessage(message, obj) {
           case 'char':
           case 'int16':
           case 'int32':
-          case 'int64':
           case 'byte':
           case 'uint16':
           case 'uint32':
-          case 'uint64':
           case 'float32':
           case 'float64':
             if (typeof obj[name] != 'number') {
               return false;
             }
             break;
+          case 'int64':
+          case 'uint64':
+            if (typeof obj[name] != 'bigint') {
+              return false;
+            }
           case 'bool':
             if (typeof obj[name] != 'boolean') {
               return false;
@@ -171,7 +179,12 @@ function toROSMessage(TypeClass, obj) {
 
 function constructFromPlanObject(msg, obj) {
   const type = typeof obj;
-  if (type === 'string' || type === 'number' || type === 'boolean') {
+  if (
+    type === 'string' ||
+    type === 'number' ||
+    type === 'boolean' ||
+    type === 'bigint'
+  ) {
     msg.data = obj;
   } else if (type === 'object') {
     copyMsgObject(msg, obj);

package/rosidl_gen/packages.js

@@ -161,9 +161,7 @@ async function generateMsgForSrv(filePath, interfaceInfo, pkgMap) {
 async function addInterfaceInfos(filePath, dir, pkgMap) {
   const interfaceInfo = grabInterfaceInfo(filePath, true);
   const ignore = pkgFilters.matchesAny(interfaceInfo);
-  if (ignore) {
-    console.log('Omitting filtered interface: ', interfaceInfo);
-  } else {
+  if (!ignore) {
     if (path.extname(filePath) === '.msg') {
       // Some .msg files were generated prior to 0.3.2 for .action files,
       // which has been disabled. So these files should be ignored here.
@@ -232,9 +230,7 @@ async function findPackagesInDirectory(dir) {
           amentExecuted
         );
         const ignore = pkgFilters.matchesAny(interfaceInfo);
-        if (ignore) {
-          console.log('Omitting filtered interface: ', interfaceInfo);
-        } else {
+        if (!ignore) {
           if (path.extname(file.name) === '.msg') {
             // Some .msg files were generated prior to 0.3.2 for .action files,
             // which has been disabled. So these files should be ignored here.

package/rosidl_gen/templates/message.dot

@@ -157,6 +157,10 @@ function isTypedArrayType(type) {
   return typedArrayType.indexOf(type.type.toLowerCase()) !== -1;
 }
 
+function isBigInt(type) {
+  return ['int64', 'uint64'].indexOf(type.type.toLowerCase()) !== -1;
+}
+
 const willUseTypedArray = isTypedArrayType(it.spec.baseType);
 const currentTypedArray = getTypedArrayName(it.spec.baseType);
 const currentTypedArrayElementType = getTypedArrayElementName(it.spec.baseType);
@@ -303,7 +307,13 @@ class {{=objectWrapper}} {
         this._refObject.{{=field.name}} = {{=field.default_value}};
         {{?}}
       {{?? field.type.isPrimitiveType && !isTypedArrayType(field.type) && field.default_value}}
-      this._{{=field.name}}Array = {{=JSON.stringify(field.default_value)}};
+        {{? isBigInt(field.type)}}
+        {{/* For non-TypedArray like int64/uint64. */}}
+        this._{{=field.name}}Array = {{=JSON.stringify(field.default_value)}}.map(num => BigInt(num));
+        {{??}}
+        {{/* For non-TypedArray like bool. */}}
+        this._{{=field.name}}Array = {{=JSON.stringify(field.default_value)}};
+        {{?}}
       {{?? field.type.isPrimitiveType && isTypedArrayType(field.type) && field.default_value}}
       this._wrapperFields.{{=field.name}}.fill({{=getTypedArrayName(field.type)}}.from({{=JSON.stringify(field.default_value)}}));
       {{?}}
@@ -376,8 +386,11 @@ class {{=objectWrapper}} {
             }
           }
         }
+        {{?? isBigInt(field.type)}}
+        {{/* For non-TypedArray like int64/uint64. */}}
+        this._refObject.{{=field.name}} = this._{{=field.name}}Array.map(num => num.toString());
         {{??}}
-        {{/* For non-TypedArray like int64/uint64/bool. */}}
+        {{/* For non-TypedArray like bool. */}}
         this._refObject.{{=field.name}} = this._{{=field.name}}Array;
         {{?}}
       {{?? field.type.isArray && field.type.isPrimitiveType && isTypedArrayType(field.type) && field.type.isFixedSizeArray}}
@@ -527,6 +540,8 @@ class {{=objectWrapper}} {
     return this._wrapperFields.{{=field.name}};
     {{?? !field.type.isArray && field.type.type === 'string' && it.spec.msgName !== 'String'}}
     return this._wrapperFields.{{=field.name}}.data;
+    {{?? isBigInt(field.type)}}
+    return BigInt(this._refObject.{{=field.name}});
     {{??}}
     return this._refObject.{{=field.name}};
     {{?}}
@@ -559,6 +574,11 @@ class {{=objectWrapper}} {
     }
     {{?? !field.type.isArray && field.type.type === 'string' && it.spec.msgName !== 'String'}}
     this._wrapperFields.{{=field.name}}.data = value;
+    {{?? isBigInt(field.type)}}
+    if (typeof value !== "bigint") {
+      throw new TypeError('{{=field.name}} must be type of bigint');
+    }
+    this._refObject.{{=field.name}} = value.toString();
     {{??}}
       {{? it.spec.msgName === 'String'}}
       this._refObject.size = Buffer.byteLength(value);

package/rosidl_parser/rosidl_parser.js

@@ -14,11 +14,20 @@
 
 'use strict';
 
+const compareVersions = require('compare-versions');
 const path = require('path');
 const execFile = require('child_process').execFile;
 
 const pythonExecutable = require('./py_utils').getPythonExecutable('python3');
 
+const contextSupportedVersion = '21.0.0.0';
+const currentVersion = process.version;
+const isContextSupported = compareVersions.compare(
+  currentVersion.substring(1, currentVersion.length),
+  contextSupportedVersion,
+  '>='
+);
+
 const rosidlParser = {
   parseMessageFile(packageName, filePath) {
     return this._parseFile('parse_message_file', packageName, filePath);
@@ -32,6 +41,25 @@ const rosidlParser = {
     return this._parseFile('parse_action_file', packageName, filePath);
   },
 
+  _parseJSONObject(str) {
+    // For nodejs >= `contextSupportedVersion`, we leverage context parameter to
+    // convert unsafe integer to string, otherwise, json-bigint is used.
+    // See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/JSON/parse
+    if (isContextSupported) {
+      return JSON.parse(str, (key, value, context) => {
+        if (
+          Number.isInteger(value) &&
+          !Number.isSafeInteger(Number(context.source))
+        ) {
+          return context.source;
+        }
+        return value;
+      });
+    }
+    const JSONbigString = require('json-bigint')({ storeAsString: true });
+    return JSONbigString.parse(str);
+  },
+
   _parseFile(command, packageName, filePath) {
     return new Promise((resolve, reject) => {
       const args = [
@@ -54,7 +82,7 @@ const rosidlParser = {
               )
             );
           } else {
-            resolve(JSON.parse(stdout));
+            resolve(this._parseJSONObject(stdout));
           }
         }
       );

package/rostsd_gen/index.js

@@ -478,7 +478,6 @@ function primitiveType2JSName(type) {
     case 'int8':
     case 'int16':
     case 'int32':
-    case 'int64':
 
     // signed explicit float types
     case 'float32':
@@ -488,7 +487,6 @@ function primitiveType2JSName(type) {
     case 'uint8':
     case 'uint16':
     case 'uint32':
-    case 'uint64':
       jsName = 'number';
       break;
     case 'bool':
@@ -499,6 +497,10 @@ function primitiveType2JSName(type) {
     case 'wstring':
       jsName = 'string';
       break;
+    case 'int64':
+    case 'uint64':
+      jsName = 'bigint';
+      break;
   }
 
   return jsName;

package/scripts/config.js

@@ -0,0 +1,69 @@
+// 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.
+
+'use strict';
+
+const os = require('os');
+const path = require('path');
+const { execSync } = require('child_process');
+
+const dependencies = [
+  'rcl',
+  'rcutils',
+  'rmw',
+  'rcl_yaml_param_parser',
+  'rosidl_typesupport_interface',
+  'rcl_action',
+  'action_msgs',
+  'service_msgs',
+  'unique_identifier_msgs',
+  'builtin_interfaces',
+  'rcl_lifecycle',
+  'lifecycle_msgs',
+  'rosidl_runtime_c',
+  'rosidl_dynamic_typesupport',
+  'type_description_interfaces',
+];
+
+const command = os.type() === 'Windows_NT' ? 'where ros2' : 'which ros2';
+
+function getROSRootPath() {
+  try {
+    // Execute the command to find the ROS2 installation path.
+    let ros2Path = execSync(command).toString().trim();
+    return path.dirname(path.dirname(ros2Path));
+  } catch (error) {
+    console.error(`Error: ${error.message}`);
+  }
+}
+
+function getROSLibPath() {
+  return path.join(getROSRootPath(), 'lib');
+}
+
+function getROSIncludeRootPath() {
+  return path.join(getROSRootPath(), 'include');
+}
+
+function getIncludePaths() {
+  const includeRoot = getROSIncludeRootPath();
+  return dependencies.map((dependency) => {
+    return path.join(includeRoot, dependency);
+  });
+}
+
+module.exports = {
+  getROSRootPath,
+  getROSLibPath,
+  getROSIncludeRootPath,
+  getIncludePaths,
+};

package/scripts/npmjs-readme.md

@@ -45,7 +45,7 @@ npm i rclnodejs@x.y.z
 
 |                                      RCLNODEJS Version                                       |                                                             Compatible ROS 2 LTS                                                             |
 | :------------------------------------------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------: |
-| latest version (currently [v0.28.1](https://github.com/RobotWebTools/rclnodejs/tree/0.28.1)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy) |
+| latest version (currently [v0.30.0](https://github.com/RobotWebTools/rclnodejs/tree/0.30.0)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy) |
 
 ## Documentation
 

package/types/index.d.ts

@@ -144,6 +144,13 @@ declare module 'rclnodejs' {
     type: T
   ): MessageType<T>;
 
+  /**
+   * Removes the default signal handler installed by rclnodejs. After calling this, rclnodejs
+   * will no longer clean itself up when a SIGINT is received, it is the application's
+   * responsibility to properly shut down all nodes and contexts.
+   */
+  function removeSignalHandlers(): void;
+
   /**
    * Get a list of action names and types for action clients associated with a node.
    * @param node - The node used for discovery.

package/types/node.d.ts

@@ -324,7 +324,7 @@ declare module 'rclnodejs' {
       typeClass: T,
       topic: string,
       options: Options,
-      callback: SubscriptionCallback<T>
+      callback: SubscriptionCallback<T> | SubscriptionWithRawMessageCallback
     ): Subscription;
 
     /**

package/types/parameter.d.ts

@@ -45,7 +45,7 @@ declare module 'rclnodejs' {
      *
      * @param name - The parameter name, must be a valid name.
      * @param type - The type identifier.
-     * @param {value - The parameter value.
+     * @param value - The parameter value.
      */
     constructor(name: string, type: ParameterType, value?: any);
 
@@ -261,16 +261,15 @@ declare module 'rclnodejs' {
   /**
    *
    */
-  class IntegerRange extends FloatingPointRange {
+  class IntegerRange extends Range {
     /**
      * Create a new instance.
      * @constructor
-     * @param {number} fromValue - The lowest inclusive value in range
-     * @param {number} toValue - The highest inclusive value in range
-     * @param {number} step - The internal unit size.
-     * @param {number} tolerance - The plus/minus tolerance for number equivalence.
+     * @param {bigint} fromValue - The lowest inclusive value in range
+     * @param {bigint} toValue - The highest inclusive value in range
+     * @param {bigint} step - The internal unit size.
      */
-    constructor(from: number, to: number, step?: number, tolerance?: number);
+    constructor(from: bigint, to: bigint, step?: bigint);
 
     /**
      * Determine if a ParameterType is compatible.

package/types/subscription.d.ts

@@ -13,7 +13,23 @@ declare module 'rclnodejs' {
    */
   type SubscriptionCallback<T extends TypeClass<MessageTypeClassName>> =
     // * @param message - The published message
-    (message: MessageType<T> | Buffer) => void;
+    (message: MessageType<T>) => void;
+
+  /**
+   * A callback for receiving published raw messages.
+   *
+   * @param message - The published message.
+   *
+   * @remarks
+   * See {@link Node#createSubscription | Node.createSubscription}
+   * See {@link SubscriptionContentFilter}
+   * See {@link Node#createPublisher | Node.createPublisher}
+   * See {@link Publisher}
+   * See {@link Subscription}
+   */
+  type SubscriptionWithRawMessageCallback =
+    // * @param message - The published raw message
+    (message: Buffer) => void;
 
   /**
    * A ROS Subscription for published messages on a topic.