rclnodejs 1.4.1 → 1.5.0

package/README.md

@@ -45,7 +45,7 @@ npm i rclnodejs@x.y.z
 
 |                                     RCLNODEJS Version                                      |                                                                                               Compatible ROS 2 LTS                                                                                               |
 | :----------------------------------------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
-| latest version (currently [v1.4.1](https://github.com/RobotWebTools/rclnodejs/tree/1.4.1)) | [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 [v1.5.0](https://github.com/RobotWebTools/rclnodejs/tree/1.5.0)) | [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
 
@@ -121,6 +121,8 @@ Send a request in a client
 
 ```
 
+Check out more [examples](https://github.com/RobotWebTools/rclnodejs/tree/develop/example).
+
 ## Using rclnodejs with TypeScript
 
 In your node project install the rclnodejs package as described above. You will also need the TypeScript compiler and node typings installed.
@@ -162,8 +164,14 @@ const msg: rclnodejs.std_msgs.msg.String = {
 };
 ```
 
+Check out more TypeScript [demos](https://github.com/RobotWebTools/rclnodejs/tree/develop/ts_demo).
+
 **Note** that the interface.d.ts file is updated each time the generate_messages.js script is run.
 
+## Using rclnodejs with Electron
+
+Check out [demos](https://github.com/RobotWebTools/rclnodejs/tree/develop/electron_demo).
+
 ## License
 
 Apache License Version 2.0

package/index.js

@@ -57,6 +57,7 @@ const {
   serializeMessage,
   deserializeMessage,
 } = require('./lib/serialization.js');
+const { spawn } = require('child_process');
 
 /**
  * Get the version of the generator that was used for the currently present interfaces.
@@ -89,6 +90,82 @@ async function getCurrentGeneratorVersion() {
 
 let _rosVersionChecked = false;
 
+/**
+ * Run a ROS2 package executable using 'ros2 run' command.
+ * @param {string} packageName - The name of the ROS2 package.
+ * @param {string} executableName - The name of the executable to run.
+ * @param {string[]} [args=[]] - Additional arguments to pass to the executable.
+ * @return {Promise<{process: ChildProcess}>} A Promise that resolves with the process.
+ */
+function ros2Run(packageName, executableName, args = []) {
+  return new Promise((resolve, reject) => {
+    if (typeof packageName !== 'string' || !packageName.trim()) {
+      reject(new Error('Package name must be a non-empty string'));
+      return;
+    }
+
+    if (typeof executableName !== 'string' || !executableName.trim()) {
+      reject(new Error('Executable name must be a non-empty string'));
+      return;
+    }
+
+    if (!Array.isArray(args)) {
+      reject(new Error('Arguments must be an array'));
+      return;
+    }
+
+    const command = 'ros2';
+    const cmdArgs = ['run', packageName, executableName, ...args];
+    const childProcess = spawn(command, cmdArgs);
+
+    childProcess.on('error', (error) => {
+      reject(new Error(`Failed to start ros2 run: ${error.message}`));
+    });
+    childProcess.on('spawn', () => {
+      resolve({
+        process: childProcess,
+      });
+    });
+  });
+}
+
+/**
+ * Run a ROS2 launch file using 'ros2 launch' command.
+ * @param {string} packageName - The name of the ROS2 package.
+ * @param {string} launchFile - The name of the launch file to run.
+ * @param {string[]} [args=[]] - Additional arguments to pass to the launch file.
+ * @return {Promise<{process: ChildProcess}>} A Promise that resolves with the process.
+ */
+function ros2Launch(packageName, launchFile, args = []) {
+  return new Promise((resolve, reject) => {
+    if (typeof packageName !== 'string' || !packageName.trim()) {
+      reject(new Error('Package name must be a non-empty string'));
+      return;
+    }
+    if (typeof launchFile !== 'string' || !launchFile.trim()) {
+      reject(new Error('Launch file name must be a non-empty string'));
+      return;
+    }
+    if (!Array.isArray(args)) {
+      reject(new Error('Arguments must be an array'));
+      return;
+    }
+    const command = 'ros2';
+    const cmdArgs = ['launch', packageName, launchFile, ...args];
+    const childProcess = spawn(command, cmdArgs);
+
+    childProcess.on('error', (error) => {
+      reject(new Error(`Failed to start ros2 launch: ${error.message}`));
+    });
+
+    childProcess.on('spawn', () => {
+      resolve({
+        process: childProcess,
+      });
+    });
+  });
+}
+
 /**
  * A module that exposes the rclnodejs interfaces.
  * @exports rclnodejs
@@ -444,6 +521,24 @@ let rcl = {
     // this will not throw even if the handler is already removed
     process.removeListener('SIGINT', _sigHandler);
   },
+
+  /**
+   * Run a ROS2 package executable using 'ros2 run' command.
+   * @param {string} packageName - The name of the ROS2 package.
+   * @param {string} executableName - The name of the executable to run.
+   * @param {string[]} [args=[]] - Additional arguments to pass to the executable.
+   * @return {Promise<{process: ChildProcess}>} A Promise that resolves with the process.
+   */
+  ros2Run: ros2Run,
+
+  /**
+   * Run a ROS2 launch file using 'ros2 launch' command.
+   * @param {string} packageName - The name of the ROS2 package.
+   * @param {string} launchFile - The name of the launch file to run.
+   * @param {string[]} [args=[]] - Additional arguments to pass to the launch file.
+   * @return {Promise<{process: ChildProcess}>} A Promise that resolves with the process.
+   */
+  ros2Launch: ros2Launch,
 };
 
 const _sigHandler = () => {

package/lib/client.js

@@ -157,6 +157,14 @@ class Client extends Entity {
       introspectionState
     );
   }
+
+  /**
+   * Get the logger name for this client.
+   * @returns {string} The logger name for this client.
+   */
+  get loggerName() {
+    return rclnodejs.getNodeLoggerName(this._nodeHandle);
+  }
 }
 
 module.exports = Client;

package/lib/publisher.js

@@ -26,6 +26,7 @@ const Entity = require('./entity.js');
 class Publisher extends Entity {
   constructor(handle, typeClass, topic, options, node, eventCallbacks) {
     super(handle, typeClass, options);
+    this._node = node;
     if (node && eventCallbacks) {
       this._events = eventCallbacks.createEventHandlers(this.handle);
       node._events.push(...this._events);
@@ -126,6 +127,14 @@ class Publisher extends Entity {
   set events(events) {
     this._events = events;
   }
+
+  /**
+   * Get the logger name for this publisher.
+   * @returns {string} The logger name for this publisher.
+   */
+  get loggerName() {
+    return rclnodejs.getNodeLoggerName(this._node.handle);
+  }
 }
 
 module.exports = Publisher;

package/lib/service.js

@@ -149,6 +149,14 @@ class Service extends Entity {
   getOptions() {
     return rclnodejs.getOptions(this._handle);
   }
+
+  /**
+   * Get the logger name for this service.
+   * @returns {string} The logger name for this service.
+   */
+  get loggerName() {
+    return rclnodejs.getNodeLoggerName(this._nodeHandle);
+  }
 }
 
 module.exports = Service;

package/lib/subscription.js

@@ -42,6 +42,7 @@ class Subscription extends Entity {
     this._topic = topic;
     this._callback = callback;
     this._isRaw = options.isRaw || false;
+    this._node = node;
 
     if (node && eventCallbacks) {
       this._events = eventCallbacks.createEventHandlers(this.handle);
@@ -168,6 +169,14 @@ class Subscription extends Entity {
   set events(events) {
     this._events = events;
   }
+
+  /**
+   * Get the logger name for this subscription.
+   * @returns {string} The logger name for this subscription.
+   */
+  get loggerName() {
+    return rclnodejs.getNodeLoggerName(this._node.handle);
+  }
 }
 
 module.exports = Subscription;

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rclnodejs",
-  "version": "1.4.1",
+  "version": "1.5.0",
   "description": "ROS2.0 JavaScript client with Node.js",
   "main": "index.js",
   "types": "types/index.d.ts",

package/types/action_server.d.ts

@@ -78,7 +78,7 @@ declare module 'rclnodejs' {
     goalHandle: ServerGoalHandle<T>
   ) => Promise<ActionResult<T>> | ActionResult<T>;
   type GoalCallback<T extends TypeClass<ActionTypeClassName>> = (
-    goalHandle: ServerGoalHandle<T>
+    goal: ActionGoal<T>
   ) => GoalResponse;
   type HandleAcceptedCallback<T extends TypeClass<ActionTypeClassName>> = (
     goalHandle: ServerGoalHandle<T>

package/types/client.d.ts

@@ -52,6 +52,11 @@ declare module 'rclnodejs' {
       serviceEventPubQOS: QoS,
       introspectionState: ServiceIntrospectionStates
     ): void;
+
+    /**
+     * Get the logger name for this client.
+     */
+    readonly loggerName: string;
   }
 
   namespace Client {

package/types/index.d.ts

@@ -1,5 +1,7 @@
 /// <reference path="./base.d.ts" />
 
+import { ChildProcess } from 'child_process';
+
 declare module 'rclnodejs' {
   type Class = new (...args: any[]) => any;
 
@@ -207,4 +209,30 @@ declare module 'rclnodejs' {
    * @returns An Object representing the deserialized message.
    */
   function deserializeMessage(buffer: Buffer, typeClass: Class): object;
+
+  /**
+   * Run a ROS2 package executable using 'ros2 run' command.
+   * @param {string} packageName - The name of the ROS2 package.
+   * @param {string} executableName - The name of the executable to run.
+   * @param {string[]} [args=[]] - Additional arguments to pass to the executable.
+   * @return {Promise<{process: ChildProcess}>} A Promise that resolves with the process.
+   */
+  function ros2Run(
+    packageName: string,
+    executableName: string,
+    args: string[]
+  ): Promise<{ process: ChildProcess }>;
+
+  /**
+   * Run a ROS2 launch file using 'ros2 launch' command.
+   * @param {string} packageName - The name of the ROS2 package.
+   * @param {string} launchFile - The name of the launch file to run.
+   * @param {string[]} [args=[]] - Additional arguments to pass to the launch file.
+   * @return {Promise<{process: ChildProcess}>} A Promise that resolves with the process.
+   */
+  function ros2Launch(
+    packageName: string,
+    launchFile: string,
+    args: string[]
+  ): Promise<{ process: ChildProcess }>;
 }

package/types/publisher.d.ts

@@ -37,5 +37,10 @@ declare module 'rclnodejs' {
      * @return {boolean} `true` if all published message data is acknowledged before the timeout, otherwise `false`.
      */
     waitForAllAcked(timeout: bigint): boolean;
+
+    /**
+     * Get the logger name for this publisher.
+     */
+    readonly loggerName: string;
   }
 }

package/types/service.d.ts

@@ -94,5 +94,10 @@ declare module 'rclnodejs' {
      * @return The options of this service.
      */
     getOptions(): object;
+
+    /**
+     * Get the logger name for this service.
+     */
+    readonly loggerName: string;
   }
 }

package/types/subscription.d.ts

@@ -72,5 +72,10 @@ declare module 'rclnodejs' {
      * @returns The number of publishers
      */
     publisherCount(): number;
+
+    /**
+     * Get the logger name for this subscription.
+     */
+    readonly loggerName: string;
   }
 }