rclnodejs 1.2.0 → 1.3.0

package/README.md

@@ -45,7 +45,7 @@ npm i rclnodejs@x.y.z
 
 |                                     RCLNODEJS Version                                      |                                                                                               Compatible ROS 2 LTS                                                                                               |
 | :----------------------------------------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
-| latest version (currently [v1.2.0](https://github.com/RobotWebTools/rclnodejs/tree/1.2.0)) | [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/binding.gyp

@@ -35,6 +35,7 @@
         './src/rcl_names_bindings.cpp',
         './src/rcl_node_bindings.cpp',
         './src/rcl_publisher_bindings.cpp',
+        './src/rcl_serialization_bindings.cpp',
         './src/rcl_service_bindings.cpp',
         './src/rcl_subscription_bindings.cpp',
         './src/rcl_time_point_bindings.cpp',

package/index.js

@@ -53,6 +53,10 @@ const {
   getActionNamesAndTypes,
 } = require('./lib/action/graph.js');
 const ServiceIntrospectionStates = require('./lib/service_introspection.js');
+const {
+  serializeMessage,
+  deserializeMessage,
+} = require('./lib/serialization.js');
 
 /**
  * Get the version of the generator that was used for the currently present interfaces.
@@ -183,12 +187,22 @@ let rcl = {
   /** {@link getActionNamesAndTypes} function */
   getActionNamesAndTypes: getActionNamesAndTypes,
 
+  /** {@link serializeMessage} function */
+  serializeMessage: serializeMessage,
+
+  /** {@link deserializeMessage} function */
+  deserializeMessage: deserializeMessage,
+
   /**
    * Create and initialize a node.
    * @param {string} nodeName - The name used to register in ROS.
    * @param {string} [namespace=''] - The namespace used in ROS.
    * @param {Context} [context=Context.defaultContext()] - The context to create the node in.
    * @param {NodeOptions} [options=NodeOptions.defaultOptions] - The options to configure the new node behavior.
+   * @param {Array} [args=[]] - The arguments to pass to the node.
+   * @param {boolean} [useGlobalArguments=true] - If true, the node will use the global arguments
+   *                                             from the context, otherwise it will only use the arguments
+   *                                             passed in the args parameter.
    * @return {Node} A new instance of the specified node.
    * @throws {Error} If the given context is not registered.
    * @deprecated since 0.18.0, Use new Node constructor.
@@ -197,9 +211,18 @@ let rcl = {
     nodeName,
     namespace = '',
     context = Context.defaultContext(),
-    options = NodeOptions.defaultOptions
+    options = NodeOptions.defaultOptions,
+    args = [],
+    useGlobalArguments = true
   ) {
-    return new this.Node(nodeName, namespace, context, options);
+    return new this.Node(
+      nodeName,
+      namespace,
+      context,
+      options,
+      args,
+      useGlobalArguments
+    );
   },
 
   /**
@@ -255,7 +278,7 @@ let rcl = {
       throw new TypeError('argv elements must be strings (and not null).');
     }
 
-    rclnodejs.init(context.handle, argv);
+    rclnodejs.init(context.handle, argv, context._domainId);
 
     if (_rosVersionChecked) {
       // no further processing required

package/lib/context.js

@@ -63,11 +63,13 @@ class Context {
    * Call rcl.init(context) to initialize this context state for
    * use in creating nodes, etc.
    * @constructor
+   * @param {bigint} - Optional, The domain ID of this context.
    */
-  constructor() {
+  constructor(domainId) {
     this._handle = rclnodejs.createContext();
     this._isShutdown = false;
     this._nodes = [];
+    this._domainId = domainId;
     Context._instances.push(this);
   }
 
@@ -222,7 +224,7 @@ class Context {
 
   /**
    * Get the domain ID of this context.
-   * @returns {Number} domain ID of this context
+   * @returns {bigint} domain ID of this context
    */
   get domainId() {
     return rclnodejs.getDomainId(this.handle);

package/lib/lifecycle.js

@@ -600,6 +600,15 @@ class LifecycleNode extends Node {
     return rclnodejs.isInitialized(this._stateMachineHandle);
   }
 
+  /**
+   * Log the state machine data.
+   *
+   * @returns {undefined} void.
+   */
+  print() {
+    rclnodejs.print(this._stateMachineHandle);
+  }
+
   /**
    * The GetState service handler.
    * @param {Object} request - The GetState service request.

package/lib/node.js

@@ -43,6 +43,7 @@ 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';
@@ -66,7 +67,9 @@ class Node extends rclnodejs.ShadowNode {
     nodeName,
     namespace = '',
     context = Context.defaultContext(),
-    options = NodeOptions.defaultOptions
+    options = NodeOptions.defaultOptions,
+    args = [],
+    useGlobalArguments = true
   ) {
     super();
 
@@ -74,7 +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,
@@ -82,8 +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,
@@ -1064,27 +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
     );
   }
@@ -1420,7 +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);
@@ -1684,6 +1723,42 @@ class Node extends rclnodejs.ShadowNode {
     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) {
@@ -1808,7 +1883,7 @@ class Node extends rclnodejs.ShadowNode {
       return result;
     });
 
-    Type.destoryRawROS(message);
+    Type.destroyRawROS(message);
   }
 
   _addActionClient(actionClient) {
@@ -1820,6 +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/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/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": "1.2.0",
+  "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

@@ -45,7 +45,7 @@ npm i rclnodejs@x.y.z
 
 |                                     RCLNODEJS Version                                      |                                                                                               Compatible ROS 2 LTS                                                                                               |
 | :----------------------------------------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
-| latest version (currently [v1.2.0](https://github.com/RobotWebTools/rclnodejs/tree/1.2.0)) | [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

@@ -30,6 +30,7 @@
 #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"
@@ -88,6 +89,7 @@ Napi::Object InitModule(Napi::Env env, Napi::Object exports) {
   rclnodejs::InitEventHandleBindings(env, exports);
 #endif
   rclnodejs::InitLifecycleBindings(env, exports);
+  rclnodejs::InitSerializationBindings(env, exports);
   rclnodejs::ShadowNode::Init(env, exports);
   rclnodejs::RclHandle::Init(env, exports);
 

package/src/macros.h

@@ -23,17 +23,33 @@
   {                                                                 \
     if (lhs op rhs) {                                               \
       rcl_reset_error();                                            \
-      Napi::Error::New(rclnodejs::GetEnv(), message)                \
+      Napi::Error::New(env, message)                                \
           .ThrowAsJavaScriptException();                            \
+      return env.Undefined();                                       \
     }                                                               \
   }
 
+#define CHECK_OP_AND_THROW_ERROR_IF_NOT_TRUE_NO_RETURN(op, lhs, rhs, message) \
+  {                                                                           \
+    if (lhs op rhs) {                                                         \
+      rcl_reset_error();                                                      \
+      Napi::Error::New(env, message)                                          \
+          .ThrowAsJavaScriptException();                                      \
+    }                                                                         \
+  }
+
 #define THROW_ERROR_IF_NOT_EQUAL(lhs, rhs, message) \
   CHECK_OP_AND_THROW_ERROR_IF_NOT_TRUE(!=, lhs, rhs, message)
 
 #define THROW_ERROR_IF_EQUAL(lhs, rhs, message) \
   CHECK_OP_AND_THROW_ERROR_IF_NOT_TRUE(==, lhs, rhs, message)
 
+#define THROW_ERROR_IF_NOT_EQUAL_NO_RETURN(lhs, rhs, message) \
+  CHECK_OP_AND_THROW_ERROR_IF_NOT_TRUE_NO_RETURN(!=, lhs, rhs, message)
+
+#define THROW_ERROR_IF_EQUAL_NO_RETURN(lhs, rhs, message) \
+  CHECK_OP_AND_THROW_ERROR_IF_NOT_TRUE_NO_RETURN(==, lhs, rhs, message)
+
 #define PACKAGE_NAME "rclnodejs"
 
 #ifdef DEBUG_ON

package/src/rcl_action_client_bindings.cpp

@@ -75,12 +75,13 @@ Napi::Value ActionCreateClient(const Napi::CallbackInfo& info) {
                                &action_client_ops),
         RCL_RET_OK, rcl_get_error_string().str);
     auto js_obj = RclHandle::NewInstance(
-        env, action_client, node_handle, [node](void* ptr) {
+        env, action_client, node_handle, [node, env](void* ptr) {
           rcl_action_client_t* action_client =
               reinterpret_cast<rcl_action_client_t*>(ptr);
           rcl_ret_t ret = rcl_action_client_fini(action_client, node);
           free(ptr);
-          THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, ret, rcl_get_error_string().str);
+          THROW_ERROR_IF_NOT_EQUAL_NO_RETURN(RCL_RET_OK, ret,
+                                             rcl_get_error_string().str);
         });
 
     return js_obj;

package/src/rcl_action_goal_bindings.cpp

@@ -49,12 +49,13 @@ Napi::Value ActionAcceptNewGoal(const Napi::CallbackInfo& info) {
           malloc(sizeof(rcl_action_goal_handle_t)));
   *goal_handle = *new_goal;
   auto js_obj =
-      RclHandle::NewInstance(env, goal_handle, nullptr, [](void* ptr) {
+      RclHandle::NewInstance(env, goal_handle, nullptr, [env](void* ptr) {
         rcl_action_goal_handle_t* goal_handle =
             reinterpret_cast<rcl_action_goal_handle_t*>(ptr);
         rcl_ret_t ret = rcl_action_goal_handle_fini(goal_handle);
         free(ptr);
-        THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, ret, rcl_get_error_string().str);
+        THROW_ERROR_IF_NOT_EQUAL_NO_RETURN(RCL_RET_OK, ret,
+                                           rcl_get_error_string().str);
       });
 
   return js_obj;

package/src/rcl_action_server_bindings.cpp

@@ -81,12 +81,13 @@ Napi::Value ActionCreateServer(const Napi::CallbackInfo& info) {
                                action_name.c_str(), &action_server_ops),
         RCL_RET_OK, rcl_get_error_string().str);
     auto js_obj = RclHandle::NewInstance(
-        env, action_server, node_handle, [node](void* ptr) {
+        env, action_server, node_handle, [node, env](void* ptr) {
           rcl_action_server_t* action_server =
               reinterpret_cast<rcl_action_server_t*>(ptr);
           rcl_ret_t ret = rcl_action_server_fini(action_server, node);
           free(ptr);
-          THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, ret, rcl_get_error_string().str);
+          THROW_ERROR_IF_NOT_EQUAL_NO_RETURN(RCL_RET_OK, ret,
+                                             rcl_get_error_string().str);
         });
 
     return js_obj;
@@ -390,13 +391,14 @@ Napi::Value ActionProcessCancelRequest(const Napi::CallbackInfo& info) {
   }
 
   *response = cancel_response_ptr->msg;
-  auto js_obj =
-      RclHandle::NewInstance(env, cancel_response_ptr, nullptr, [](void* ptr) {
+  auto js_obj = RclHandle::NewInstance(
+      env, cancel_response_ptr, nullptr, [env](void* ptr) {
         rcl_action_cancel_response_t* cancel_response_ptr =
             reinterpret_cast<rcl_action_cancel_response_t*>(ptr);
         rcl_ret_t ret = rcl_action_cancel_response_fini(cancel_response_ptr);
         free(ptr);
-        THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, ret, rcl_get_error_string().str);
+        THROW_ERROR_IF_NOT_EQUAL_NO_RETURN(RCL_RET_OK, ret,
+                                           rcl_get_error_string().str);
       });
   return js_obj;
 }

package/src/rcl_client_bindings.cpp

@@ -53,12 +53,13 @@ Napi::Value CreateClient(const Napi::CallbackInfo& info) {
         rcl_client_init(client, node, ts, service_name.c_str(), &client_ops),
         RCL_RET_OK, rcl_get_error_string().str);
 
-    auto js_obj =
-        RclHandle::NewInstance(env, client, node_handle, [node](void* ptr) {
+    auto js_obj = RclHandle::NewInstance(
+        env, client, node_handle, [node, env](void* ptr) {
           rcl_client_t* client = reinterpret_cast<rcl_client_t*>(ptr);
           rcl_ret_t ret = rcl_client_fini(client, node);
           free(ptr);
-          THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, ret, rcl_get_error_string().str);
+          THROW_ERROR_IF_NOT_EQUAL_NO_RETURN(RCL_RET_OK, ret,
+                                             rcl_get_error_string().str);
         });
 
     return js_obj;