rclnodejs 1.1.0 → 1.3.0

package/lib/node.js

@@ -41,6 +41,9 @@ const TimeSource = require('./time_source.js');
 const Timer = require('./timer.js');
 const TypeDescriptionService = require('./type_description_service.js');
 const Entity = require('./entity.js');
+const { SubscriptionEventCallbacks } = require('../lib/event_handler.js');
+const { PublisherEventCallbacks } = require('../lib/event_handler.js');
+const { validateFullTopicName } = require('./validator.js');
 
 // Parameter event publisher constants
 const PARAMETER_EVENT_MSG_TYPE = 'rcl_interfaces/msg/ParameterEvent';
@@ -64,7 +67,9 @@ class Node extends rclnodejs.ShadowNode {
     nodeName,
     namespace = '',
     context = Context.defaultContext(),
-    options = NodeOptions.defaultOptions
+    options = NodeOptions.defaultOptions,
+    args = [],
+    useGlobalArguments = true
   ) {
     super();
 
@@ -72,7 +77,7 @@ class Node extends rclnodejs.ShadowNode {
       throw new TypeError('Invalid argument.');
     }
 
-    this._init(nodeName, namespace, options, context);
+    this._init(nodeName, namespace, options, context, args, useGlobalArguments);
     debug(
       'Finish initializing node, name = %s and namespace = %s.',
       nodeName,
@@ -80,8 +85,14 @@ class Node extends rclnodejs.ShadowNode {
     );
   }
 
-  _init(name, namespace, options, context) {
-    this.handle = rclnodejs.createNode(name, namespace, context.handle);
+  _init(name, namespace, options, context, args, useGlobalArguments) {
+    this.handle = rclnodejs.createNode(
+      name,
+      namespace,
+      context.handle,
+      args,
+      useGlobalArguments
+    );
     Object.defineProperty(this, 'handle', {
       configurable: false,
       writable: false,
@@ -96,6 +107,7 @@ class Node extends rclnodejs.ShadowNode {
     this._services = [];
     this._timers = [];
     this._guards = [];
+    this._events = [];
     this._actionClients = [];
     this._actionServers = [];
     this._rateTimerServer = null;
@@ -181,6 +193,9 @@ class Node extends rclnodejs.ShadowNode {
     let actionServersReady = this._actionServers.filter((actionServer) =>
       handles.includes(actionServer.handle)
     );
+    let eventsReady = this._events.filter((event) =>
+      handles.includes(event.handle)
+    );
 
     timersReady.forEach((timer) => {
       if (timer.isReady()) {
@@ -189,6 +204,10 @@ class Node extends rclnodejs.ShadowNode {
       }
     });
 
+    eventsReady.forEach((event) => {
+      event.takeData();
+    });
+
     for (const subscription of subscriptionsReady) {
       if (subscription.isDestroyed()) continue;
       if (subscription.isRaw) {
@@ -588,27 +607,39 @@ 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 {PublisherEventCallbacks} eventCallbacks - The event callbacks for the publisher.
    * @return {Publisher} - An instance of Publisher.
    */
-  createPublisher(typeClass, topic, options) {
-    return this._createPublisher(typeClass, topic, options, Publisher);
+  createPublisher(typeClass, topic, options, eventCallbacks) {
+    return this._createPublisher(
+      typeClass,
+      topic,
+      options,
+      Publisher,
+      eventCallbacks
+    );
   }
 
-  _createPublisher(typeClass, topic, options, publisherClass) {
+  _createPublisher(typeClass, topic, options, publisherClass, eventCallbacks) {
     if (typeof typeClass === 'string' || typeof typeClass === 'object') {
       typeClass = loader.loadInterface(typeClass);
     }
     options = this._validateOptions(options);
 
-    if (typeof typeClass !== 'function' || typeof topic !== 'string') {
+    if (
+      typeof typeClass !== 'function' ||
+      typeof topic !== 'string' ||
+      (eventCallbacks && !(eventCallbacks instanceof PublisherEventCallbacks))
+    ) {
       throw new TypeError('Invalid argument');
     }
 
     let publisher = publisherClass.createPublisher(
-      this.handle,
+      this,
       typeClass,
       topic,
-      options
+      options,
+      eventCallbacks
     );
     debug('Finish creating publisher, topic = %s.', topic);
     this._publishers.push(publisher);
@@ -643,12 +674,13 @@ class Node extends rclnodejs.ShadowNode {
    *  the ‘parameters’ (i.e., "%n" tokens) in the filter_expression. The number of supplied parameters must
    *  fit with the requested values in the filter_expression (i.e., the number of %n tokens). default: undefined.
    * @param {SubscriptionCallback} callback - The callback to be call when receiving the topic subscribed. The topic will be an instance of null-terminated Buffer when options.isRaw is true.
+   * @param {SubscriptionEventCallbacks} eventCallbacks - The event callbacks for the subscription.
    * @return {Subscription} - An instance of Subscription.
    * @throws {ERROR} - May throw an RMW error if content-filter is malformed. 
    * @see {@link SubscriptionCallback}
    * @see {@link https://www.omg.org/spec/DDS/1.4/PDF|Content-filter details at DDS 1.4 specification, Annex B}
    */
-  createSubscription(typeClass, topic, options, callback) {
+  createSubscription(typeClass, topic, options, callback, eventCallbacks) {
     if (typeof typeClass === 'string' || typeof typeClass === 'object') {
       typeClass = loader.loadInterface(typeClass);
     }
@@ -662,17 +694,20 @@ class Node extends rclnodejs.ShadowNode {
     if (
       typeof typeClass !== 'function' ||
       typeof topic !== 'string' ||
-      typeof callback !== 'function'
+      typeof callback !== 'function' ||
+      (eventCallbacks &&
+        !(eventCallbacks instanceof SubscriptionEventCallbacks))
     ) {
       throw new TypeError('Invalid argument');
     }
 
     let subscription = Subscription.createSubscription(
-      this.handle,
+      this,
       typeClass,
       topic,
       options,
-      callback
+      callback,
+      eventCallbacks
     );
     debug('Finish creating subscription, topic = %s.', topic);
     this._subscriptions.push(subscription);
@@ -836,6 +871,12 @@ class Node extends rclnodejs.ShadowNode {
     if (!(publisher instanceof Publisher)) {
       throw new TypeError('Invalid argument');
     }
+    if (publisher.events) {
+      publisher.events.forEach((event) => {
+        this._destroyEntity(event, this._events);
+      });
+      publisher.events = [];
+    }
     this._destroyEntity(publisher, this._publishers, false);
   }
 
@@ -848,6 +889,13 @@ class Node extends rclnodejs.ShadowNode {
     if (!(subscription instanceof Subscription)) {
       throw new TypeError('Invalid argument');
     }
+    if (subscription.events) {
+      subscription.events.forEach((event) => {
+        this._destroyEntity(event, this._events);
+      });
+      subscription.events = [];
+    }
+
     this._destroyEntity(subscription, this._subscriptions);
   }
 
@@ -1025,27 +1073,57 @@ class Node extends rclnodejs.ShadowNode {
   }
 
   /**
-   * Get a list of publishers on a given topic.
-   * @param {string} topic - the topic name to get the publishers for.
-   * @param {boolean} noDemangle - if `true`, `topic_name` needs to be a valid middleware topic name,
-   *       otherwise it should be a valid ROS topic name.
+   * Return a list of publishers on a given topic.
+   *
+   * The returned parameter is a list of TopicEndpointInfo objects, where each will contain
+   * the node name, node namespace, topic type, topic endpoint's GID, and its QoS profile.
+   *
+   * When the `no_mangle` parameter is `true`, the provided `topic` should be a valid
+   * topic name for the middleware (useful when combining ROS with native middleware (e.g. DDS)
+   * apps).  When the `no_mangle` parameter is `false`, the provided `topic` should
+   * follow ROS topic name conventions.
+   *
+   * `topic` may be a relative, private, or fully qualified topic name.
+   *  A relative or private topic will be expanded using this node's namespace and name.
+   *  The queried `topic` is not remapped.
+   *
+   * @param {string} topic - The topic on which to find the publishers.
+   * @param {boolean} [noDemangle=false] - If `true`, `topic` needs to be a valid middleware topic
+   *                               name, otherwise it should be a valid ROS topic name. Defaults to `false`.
    * @returns {Array} - list of publishers
    */
-  getPublishersInfoByTopic(topic, noDemangle) {
-    return rclnodejs.getPublishersInfoByTopic(this.handle, topic, noDemangle);
+  getPublishersInfoByTopic(topic, noDemangle = false) {
+    return rclnodejs.getPublishersInfoByTopic(
+      this.handle,
+      this._getValidatedTopic(topic, noDemangle),
+      noDemangle
+    );
   }
 
   /**
-   * Get a list of subscriptions on a given topic.
-   * @param {string} topic - the topic name to get the subscriptions for.
-   * @param {boolean} noDemangle - if `true`, `topic_name` needs to be a valid middleware topic name,
-   *       otherwise it should be a valid ROS topic name.
+   * Return a list of subscriptions on a given topic.
+   *
+   * The returned parameter is a list of TopicEndpointInfo objects, where each will contain
+   * the node name, node namespace, topic type, topic endpoint's GID, and its QoS profile.
+   *
+   * When the `no_mangle` parameter is `true`, the provided `topic` should be a valid
+   * topic name for the middleware (useful when combining ROS with native middleware (e.g. DDS)
+   * apps).  When the `no_mangle` parameter is `false`, the provided `topic` should
+   * follow ROS topic name conventions.
+   *
+   * `topic` may be a relative, private, or fully qualified topic name.
+   *  A relative or private topic will be expanded using this node's namespace and name.
+   *  The queried `topic` is not remapped.
+   *
+   * @param {string} topic - The topic on which to find the subscriptions.
+   * @param {boolean} [noDemangle=false] -  If `true`, `topic` needs to be a valid middleware topic
+                                    name, otherwise it should be a valid ROS topic name. Defaults to `false`.
    * @returns {Array} - list of subscriptions
    */
-  getSubscriptionsInfoByTopic(topic, noDemangle) {
+  getSubscriptionsInfoByTopic(topic, noDemangle = false) {
     return rclnodejs.getSubscriptionsInfoByTopic(
       this.handle,
-      topic,
+      this._getValidatedTopic(topic, noDemangle),
       noDemangle
     );
   }
@@ -1381,7 +1459,7 @@ class Node extends rclnodejs.ShadowNode {
    * Determine if a parameter descriptor exists.
    *
    * @param {string} name - The name of a descriptor to for.
-   * @return {boolean} - True if a descriptor has been declared; otherwise false.
+   * @return {boolean} - true if a descriptor has been declared; otherwise false.
    */
   hasParameterDescriptor(name) {
     return !!this.getParameterDescriptor(name);
@@ -1637,6 +1715,50 @@ class Node extends rclnodejs.ShadowNode {
     return rclnodejs.getFullyQualifiedName(this.handle);
   }
 
+  /**
+   * Get the RMW implementation identifier
+   * @returns {string} - The RMW implementation identifier.
+   */
+  getRMWImplementationIdentifier() {
+    return rclnodejs.getRMWImplementationIdentifier();
+  }
+
+  /**
+   * Return a topic name expanded and remapped.
+   * @param {string} topicName - Topic name to be expanded and remapped.
+   * @param {boolean} [onlyExpand=false] - If `true`, remapping rules won't be applied.
+   * @returns {string} - A fully qualified topic name.
+   */
+  resolveTopicName(topicName, onlyExpand = false) {
+    if (typeof topicName !== 'string') {
+      throw new TypeError('Invalid argument: expected string');
+    }
+    return rclnodejs.resolveName(
+      this.handle,
+      topicName,
+      onlyExpand,
+      /*isService=*/ false
+    );
+  }
+
+  /**
+   * Return a service name expanded and remapped.
+   * @param {string} service - Service name to be expanded and remapped.
+   * @param {boolean} [onlyExpand=false] - If `true`, remapping rules won't be applied.
+   * @returns {string} - A fully qualified service name.
+   */
+  resolveServiceName(service, onlyExpand = false) {
+    if (typeof service !== 'string') {
+      throw new TypeError('Invalid argument: expected string');
+    }
+    return rclnodejs.resolveName(
+      this.handle,
+      service,
+      onlyExpand,
+      /*isService=*/ true
+    );
+  }
+
   // returns on 1st error or result {successful, reason}
   _validateParameters(parameters = [], declareParameterMode = false) {
     for (const parameter of parameters) {
@@ -1761,7 +1883,7 @@ class Node extends rclnodejs.ShadowNode {
       return result;
     });
 
-    Type.destoryRawROS(message);
+    Type.destroyRawROS(message);
   }
 
   _addActionClient(actionClient) {
@@ -1773,6 +1895,19 @@ class Node extends rclnodejs.ShadowNode {
     this._actionServers.push(actionServer);
     this.syncHandles();
   }
+
+  _getValidatedTopic(topicName, noDemangle) {
+    if (noDemangle) {
+      return topicName;
+    }
+    const fqTopicName = rclnodejs.expandTopicName(
+      topicName,
+      this.name(),
+      this.namespace()
+    );
+    validateFullTopicName(fqTopicName);
+    return rclnodejs.remapTopicName(this.handle, fqTopicName);
+  }
 }
 
 /**

package/lib/publisher.js

@@ -24,8 +24,12 @@ const Entity = require('./entity.js');
  */
 
 class Publisher extends Entity {
-  constructor(handle, typeClass, topic, options) {
+  constructor(handle, typeClass, topic, options, node, eventCallbacks) {
     super(handle, typeClass, options);
+    if (node && eventCallbacks) {
+      this._events = eventCallbacks.createEventHandlers(this.handle);
+      node._events.push(...this._events);
+    }
   }
 
   /**
@@ -60,17 +64,24 @@ class Publisher extends Entity {
     debug(`Message of topic ${this.topic} has been published.`);
   }
 
-  static createPublisher(nodeHandle, typeClass, topic, options) {
+  static createPublisher(node, typeClass, topic, options, eventCallbacks) {
     let type = typeClass.type();
     let handle = rclnodejs.createPublisher(
-      nodeHandle,
+      node.handle,
       type.pkgName,
       type.subFolder,
       type.interfaceName,
       topic,
       options.qos
     );
-    return new Publisher(handle, typeClass, topic, options);
+    return new Publisher(
+      handle,
+      typeClass,
+      topic,
+      options,
+      node,
+      eventCallbacks
+    );
   }
 
   /**
@@ -99,6 +110,22 @@ class Publisher extends Entity {
   waitForAllAcked(timeout) {
     return rclnodejs.waitForAllAcked(this._handle, timeout);
   }
+
+  /**
+   * Get the event handlers for this publisher.
+   * @returns {Array} The array of event handlers for this publisher.
+   */
+  get events() {
+    return this._events;
+  }
+
+  /**
+   * Set the event handlers for this publisher.
+   * @param {Array} events - The array of event handlers to be set for this publisher.
+   */
+  set events(events) {
+    this._events = events;
+  }
 }
 
 module.exports = Publisher;

package/lib/serialization.js

@@ -0,0 +1,60 @@
+// Copyright (c) 2025, The Robot Web Tools Contributors
+//
+// 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 rclnodejs = require('bindings')('rclnodejs');
+
+class Serialization {
+  /**
+   * Serialize a message to a buffer.
+   * @param {object} message - The message to serialize.
+   * @param {function} typeClass - The class of the message type to serialize.
+   * @return {Buffer} The serialized message as a Buffer.
+   */
+  static serializeMessage(message, typeClass) {
+    if (!(message instanceof typeClass)) {
+      throw new TypeError('Message must be a valid ros2 message type');
+    }
+    return rclnodejs.serialize(
+      typeClass.type().pkgName,
+      typeClass.type().subFolder,
+      typeClass.type().interfaceName,
+      message.serialize()
+    );
+  }
+
+  /**
+   * Deserialize a message from a buffer.
+   * @param {Buffer} buffer - The buffer containing the serialized message.
+   * @param {function} typeClass - The class of the message type to deserialize into.
+   * @return {object} The deserialized message object.
+   */
+  static deserializeMessage(buffer, typeClass) {
+    if (!(buffer instanceof Buffer)) {
+      throw new TypeError('Buffer is required for deserialization');
+    }
+    const rosMsg = new typeClass();
+    rclnodejs.deserialize(
+      typeClass.type().pkgName,
+      typeClass.type().subFolder,
+      typeClass.type().interfaceName,
+      buffer,
+      rosMsg.toRawROS()
+    );
+    return rosMsg;
+  }
+}
+
+module.exports = Serialization;

package/lib/subscription.js

@@ -29,11 +29,24 @@ const debug = require('debug')('rclnodejs:subscription');
  */
 
 class Subscription extends Entity {
-  constructor(handle, typeClass, topic, options, callback) {
+  constructor(
+    handle,
+    typeClass,
+    topic,
+    options,
+    callback,
+    node,
+    eventCallbacks
+  ) {
     super(handle, typeClass, options);
     this._topic = topic;
     this._callback = callback;
     this._isRaw = options.isRaw || false;
+
+    if (node && eventCallbacks) {
+      this._events = eventCallbacks.createEventHandlers(this.handle);
+      node._events.push(...this._events);
+    }
   }
 
   processResponse(msg) {
@@ -45,7 +58,14 @@ class Subscription extends Entity {
     }
   }
 
-  static createSubscription(nodeHandle, typeClass, topic, options, callback) {
+  static createSubscription(
+    node,
+    typeClass,
+    topic,
+    options,
+    callback,
+    eventCallbacks
+  ) {
     let type = typeClass.type();
 
     // convert contentFilter.parameters to a string[]
@@ -56,14 +76,22 @@ class Subscription extends Entity {
     }
 
     let handle = rclnodejs.createSubscription(
-      nodeHandle,
+      node.handle,
       type.pkgName,
       type.subFolder,
       type.interfaceName,
       topic,
       options
     );
-    return new Subscription(handle, typeClass, topic, options, callback);
+    return new Subscription(
+      handle,
+      typeClass,
+      topic,
+      options,
+      callback,
+      node,
+      eventCallbacks
+    );
   }
 
   /**
@@ -124,6 +152,22 @@ class Subscription extends Entity {
   get publisherCount() {
     return rclnodejs.getPublisherCount(this._handle);
   }
+
+  /**
+   * Get the event handlers for this subscription.
+   * @returns {Array} The array of event handlers for this subscription.
+   */
+  get events() {
+    return this._events;
+  }
+
+  /**
+   * Set the event handlers for this subscription.
+   * @param {Array} events - The array of event handlers for this subscription.
+   */
+  set events(events) {
+    this._events = events;
+  }
 }
 
 module.exports = Subscription;

package/lib/type_description_service.js

@@ -18,6 +18,12 @@ const loader = require('./interface_loader.js');
 const rclnodejs = require('bindings')('rclnodejs');
 const Service = require('./service.js');
 
+const {
+  ParameterType,
+  Parameter,
+  ParameterDescriptor,
+} = require('../lib/parameter.js');
+
 // This class is used to create a TypeDescriptionService which can be used to
 // retrieve information about types used by the node’s publishers, subscribers,
 // services or actions.
@@ -32,10 +38,30 @@ class TypeDescriptionService {
       'type_description_interfaces/srv/GetTypeDescription'
     );
     this._typeDescriptionService = null;
+
+    this._enabled = false;
+    const startTypeDescriptionServiceParam = 'start_type_description_service';
+    if (!node.hasParameter(startTypeDescriptionServiceParam)) {
+      node.declareParameter(
+        new Parameter(
+          startTypeDescriptionServiceParam,
+          ParameterType.PARAMETER_BOOL,
+          true
+        ),
+        new ParameterDescriptor(
+          startTypeDescriptionServiceParam,
+          ParameterType.PARAMETER_BOOL,
+          'If enabled, start the ~/get_type_description service.',
+          true
+        )
+      );
+    }
+    const param = node.getParameter(startTypeDescriptionServiceParam);
+    this._enabled = param.value;
   }
 
   start() {
-    if (this._typeDescriptionService) {
+    if (!this._enabled || this._typeDescriptionService) {
       return;
     }
 

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rclnodejs",
-  "version": "1.1.0",
+  "version": "1.3.0",
   "description": "ROS2.0 JavaScript client with Node.js",
   "main": "index.js",
   "types": "types/index.d.ts",

package/rosidl_gen/templates/message.dot

@@ -506,7 +506,7 @@ class {{=objectWrapper}} {
   {{~}}
   }
 
-  static destoryRawROS(msg) {
+  static destroyRawROS(msg) {
     {{=objectWrapper}}.freeStruct(msg.refObject);
   }
 

package/scripts/npmjs-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=jazzy)
+# rclnodejs [![Linux](https://github.com/RobotWebTools/rclnodejs/actions/workflows/linux-x64-build-and-test.yml/badge.svg?branch=develop)](https://github.com/RobotWebTools/rclnodejs/actions/workflows/linux-x64-build-and-test.yml?query=branch%3Adevelop)[![Linux](https://github.com/RobotWebTools/rclnodejs/actions/workflows/linux-arm64-build-and-test.yml/badge.svg?branch=develop)](https://github.com/RobotWebTools/rclnodejs/actions/workflows/linux-arm64-build-and-test.yml?query=branch%3Adevelop)
 
 `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.
 
@@ -22,8 +22,8 @@ rclnodejs.init().then(() => {
 
 **ROS 2 SDK**
 
-- 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)**
+- See the ROS 2 SDK [Installation Guide](https://docs.ros.org/en/kilted/Installation.html) for details.
+- **DON'T FORGET TO [SOURCE THE ROS 2 STARTUP FILES](https://docs.ros.org/en/kilted/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.htmls)**
 
 ## Install rclnodejs
 
@@ -45,7 +45,7 @@ npm i rclnodejs@x.y.z
 
 |                                     RCLNODEJS Version                                      |                                                                                               Compatible ROS 2 LTS                                                                                               |
 | :----------------------------------------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
-| latest version (currently [v1.1.0](https://github.com/RobotWebTools/rclnodejs/tree/1.1.0)) | [Kilted](https://github.com/RobotWebTools/rclnodejs/tree/kilted)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy)<br>[Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill) |
+| latest version (currently [v1.3.0](https://github.com/RobotWebTools/rclnodejs/tree/1.3.0)) | [Kilted](https://github.com/RobotWebTools/rclnodejs/tree/kilted)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy)<br>[Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill) |
 
 ## Documentation
 

package/src/addon.cpp

@@ -30,11 +30,13 @@
 #include "rcl_names_bindings.h"
 #include "rcl_node_bindings.h"
 #include "rcl_publisher_bindings.h"
+#include "rcl_serialization_bindings.h"
 #include "rcl_service_bindings.h"
 #include "rcl_subscription_bindings.h"
 #include "rcl_time_point_bindings.h"
 #include "rcl_timer_bindings.h"
 #if ROS_VERSION > 2205  // ROS2 > Humble
+#include "rcl_event_handle_bindings.h"
 #include "rcl_type_description_service_bindings.h"
 #endif
 #include "rcl_utilities.h"
@@ -84,8 +86,10 @@ Napi::Object InitModule(Napi::Env env, Napi::Object exports) {
   rclnodejs::InitTimerBindings(env, exports);
 #if ROS_VERSION > 2205  // ROS2 > Humble
   rclnodejs::InitTypeDescriptionServiceBindings(env, exports);
+  rclnodejs::InitEventHandleBindings(env, exports);
 #endif
   rclnodejs::InitLifecycleBindings(env, exports);
+  rclnodejs::InitSerializationBindings(env, exports);
   rclnodejs::ShadowNode::Init(env, exports);
   rclnodejs::RclHandle::Init(env, exports);