rclnodejs 1.8.1 → 1.8.3

package/src/rcl_action_server_bindings.cpp

@@ -76,10 +76,18 @@ Napi::Value ActionCreateServer(const Napi::CallbackInfo& info) {
         malloc(sizeof(rcl_action_server_t)));
     *action_server = rcl_action_get_zero_initialized_server();
 
-    THROW_ERROR_IF_NOT_EQUAL(
-        rcl_action_server_init(action_server, node, clock, ts,
-                               action_name.c_str(), &action_server_ops),
-        RCL_RET_OK, rcl_get_error_string().str);
+    {
+      rcl_ret_t ret =
+          rcl_action_server_init(action_server, node, clock, ts,
+                                 action_name.c_str(), &action_server_ops);
+      if (RCL_RET_OK != ret) {
+        std::string error_msg = rcl_get_error_string().str;
+        rcl_reset_error();
+        free(action_server);
+        Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
+        return env.Undefined();
+      }
+    }
     auto js_obj = RclHandle::NewInstance(
         env, action_server, node_handle, [node, env](void* ptr) {
           rcl_action_server_t* action_server =
@@ -118,6 +126,7 @@ Napi::Value ActionTakeResultRequest(const Napi::CallbackInfo& info) {
     return js_obj;
   }
 
+  free(header);
   return env.Undefined();
 }
 
@@ -140,6 +149,7 @@ Napi::Value ActionTakeGoalRequest(const Napi::CallbackInfo& info) {
     return js_obj;
   }
 
+  free(header);
   return env.Undefined();
 }
 
@@ -213,14 +223,14 @@ Napi::Value ActionTakeGoalResponse(const Napi::CallbackInfo& info) {
   free(header);
 
   if (ret != RCL_RET_OK && ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
+    std::string error_msg = rcl_get_error_string().str;
     rcl_reset_error();
-    Napi::Error::New(env, rcl_get_error_string().str)
-        .ThrowAsJavaScriptException();
+    Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
     return env.Undefined();
   }
 
   if (ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
-    return Napi::Number::New(env, static_cast<int32_t>(sequence_number));
+    return Napi::Number::New(env, static_cast<double>(sequence_number));
   }
   return env.Undefined();
 }
@@ -242,14 +252,14 @@ Napi::Value ActionTakeCancelResponse(const Napi::CallbackInfo& info) {
   free(header);
 
   if (ret != RCL_RET_OK && ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
+    std::string error_msg = rcl_get_error_string().str;
     rcl_reset_error();
-    Napi::Error::New(env, rcl_get_error_string().str)
-        .ThrowAsJavaScriptException();
+    Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
     return env.Undefined();
   }
 
   if (ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
-    return Napi::Number::New(env, static_cast<int32_t>(sequence_number));
+    return Napi::Number::New(env, static_cast<double>(sequence_number));
   }
   return env.Undefined();
 }
@@ -271,14 +281,14 @@ Napi::Value ActionTakeResultResponse(const Napi::CallbackInfo& info) {
   free(header);
 
   if (ret != RCL_RET_OK && ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
+    std::string error_msg = rcl_get_error_string().str;
     rcl_reset_error();
-    Napi::Error::New(env, rcl_get_error_string().str)
-        .ThrowAsJavaScriptException();
+    Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
     return env.Undefined();
   }
 
   if (ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
-    return Napi::Number::New(env, static_cast<int32_t>(sequence_number));
+    return Napi::Number::New(env, static_cast<double>(sequence_number));
   }
   return env.Undefined();
 }
@@ -455,6 +465,7 @@ Napi::Value ActionTakeCancelRequest(const Napi::CallbackInfo& info) {
     return js_obj;
   }
 
+  free(header);
   return env.Undefined();
 }
 

package/src/rcl_bindings.cpp

@@ -14,7 +14,7 @@
 
 #include "rcl_bindings.h"
 
-#include <node.h>
+#include <node_version.h>
 #include <rcl/arguments.h>
 #include <rcl/rcl.h>
 

package/src/rcl_client_bindings.cpp

@@ -49,9 +49,17 @@ Napi::Value CreateClient(const Napi::CallbackInfo& info) {
       client_ops.qos = *qos_profile;
     }
 
-    THROW_ERROR_IF_NOT_EQUAL(
-        rcl_client_init(client, node, ts, service_name.c_str(), &client_ops),
-        RCL_RET_OK, rcl_get_error_string().str);
+    {
+      rcl_ret_t ret =
+          rcl_client_init(client, node, ts, service_name.c_str(), &client_ops);
+      if (RCL_RET_OK != ret) {
+        std::string error_msg = rcl_get_error_string().str;
+        rcl_reset_error();
+        free(client);
+        Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
+        return env.Undefined();
+      }
+    }
 
     auto js_obj = RclHandle::NewInstance(
         env, client, node_handle, [node, env](void* ptr) {
@@ -80,7 +88,7 @@ Napi::Value SendRequest(const Napi::CallbackInfo& info) {
   THROW_ERROR_IF_NOT_EQUAL(rcl_send_request(client, buffer, &sequence_number),
                            RCL_RET_OK, rcl_get_error_string().str);
 
-  return Napi::Number::New(env, static_cast<uint32_t>(sequence_number));
+  return Napi::Number::New(env, static_cast<double>(sequence_number));
 }
 
 Napi::Value RclTakeResponse(const Napi::CallbackInfo& info) {
@@ -96,7 +104,7 @@ Napi::Value RclTakeResponse(const Napi::CallbackInfo& info) {
   int64_t sequence_number = header.request_id.sequence_number;
 
   if (ret == RCL_RET_OK) {
-    return Napi::Number::New(env, static_cast<uint32_t>(sequence_number));
+    return Napi::Number::New(env, static_cast<double>(sequence_number));
   }
 
   rcl_reset_error();

package/src/rcl_context_bindings.cpp

@@ -120,14 +120,13 @@ Napi::Value CreateContext(const Napi::CallbackInfo& info) {
   rcl_context_t* context =
       reinterpret_cast<rcl_context_t*>(malloc(sizeof(rcl_context_t)));
   *context = rcl_get_zero_initialized_context();
-  auto js_obj =
-      RclHandle::NewInstance(env, context, nullptr, [&env](void* ptr) {
-        rcl_context_t* context = reinterpret_cast<rcl_context_t*>(ptr);
-        rcl_ret_t ret = DestroyContext(env, context);
-        free(ptr);
-        THROW_ERROR_IF_NOT_EQUAL_NO_RETURN(RCL_RET_OK, ret,
-                                           rcl_get_error_string().str);
-      });
+  auto js_obj = RclHandle::NewInstance(env, context, nullptr, [env](void* ptr) {
+    rcl_context_t* context = reinterpret_cast<rcl_context_t*>(ptr);
+    rcl_ret_t ret = DestroyContext(env, context);
+    free(ptr);
+    THROW_ERROR_IF_NOT_EQUAL_NO_RETURN(RCL_RET_OK, ret,
+                                       rcl_get_error_string().str);
+  });
 
   return js_obj;
 }

package/src/rcl_guard_condition_bindings.cpp

@@ -17,6 +17,8 @@
 #include <rcl/error_handling.h>
 #include <rcl/rcl.h>
 
+#include <string>
+
 #include "macros.h"
 #include "rcl_handle.h"
 #include "rcl_utilities.h"
@@ -37,9 +39,16 @@ Napi::Value CreateGuardCondition(const Napi::CallbackInfo& info) {
   rcl_guard_condition_options_t gc_options =
       rcl_guard_condition_get_default_options();
 
-  THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
-                           rcl_guard_condition_init(gc, context, gc_options),
-                           rcl_get_error_string().str);
+  {
+    rcl_ret_t ret = rcl_guard_condition_init(gc, context, gc_options);
+    if (RCL_RET_OK != ret) {
+      std::string error_msg = rcl_get_error_string().str;
+      rcl_reset_error();
+      free(gc);
+      Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
+      return env.Undefined();
+    }
+  }
 
   auto handle = RclHandle::NewInstance(env, gc, nullptr, [env](void* ptr) {
     rcl_guard_condition_t* gc = reinterpret_cast<rcl_guard_condition_t*>(ptr);

package/src/rcl_lifecycle_bindings.cpp

@@ -71,16 +71,51 @@ Napi::Value CreateLifecycleStateMachine(const Napi::CallbackInfo& info) {
   const rosidl_service_type_support_t* gs =
       GetServiceTypeSupport("lifecycle_msgs", "GetState");
 
-#if ROS_VERSION >= 2105
+#if ROS_VERSION >= 5000  // ROS2 Rolling
   rcl_lifecycle_state_machine_options_t options =
       rcl_lifecycle_get_default_state_machine_options();
   options.enable_com_interface = info[1].As<Napi::Boolean>().Value();
 
-  THROW_ERROR_IF_NOT_EQUAL(
-      RCL_RET_OK,
-      rcl_lifecycle_state_machine_init(state_machine, node, pn, cs, gs, gas,
-                                       gat, gtg, &options),
-      rcl_get_error_string().str);
+  RclHandle* clock_handle = RclHandle::Unwrap(info[2].As<Napi::Object>());
+  rcl_clock_t* clock = reinterpret_cast<rcl_clock_t*>(clock_handle->ptr());
+
+  {
+    rcl_ret_t ret = rcl_lifecycle_state_machine_init(
+        state_machine, node, clock, pn, cs, gs, gas, gat, gtg, &options);
+    if (RCL_RET_OK != ret) {
+      std::string error_msg = rcl_get_error_string().str;
+      rcl_reset_error();
+      free(state_machine);
+      Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
+      return env.Undefined();
+    }
+  }
+
+  auto js_obj = RclHandle::NewInstance(
+      env, state_machine, node_handle, [node, env](void* ptr) {
+        rcl_lifecycle_state_machine_t* state_machine =
+            reinterpret_cast<rcl_lifecycle_state_machine_t*>(ptr);
+        rcl_ret_t ret = rcl_lifecycle_state_machine_fini(state_machine, node);
+        free(ptr);
+        THROW_ERROR_IF_NOT_EQUAL_NO_RETURN(RCL_RET_OK, ret,
+                                           rcl_get_error_string().str);
+      });
+#elif ROS_VERSION >= 2105
+  rcl_lifecycle_state_machine_options_t options =
+      rcl_lifecycle_get_default_state_machine_options();
+  options.enable_com_interface = info[1].As<Napi::Boolean>().Value();
+
+  {
+    rcl_ret_t ret = rcl_lifecycle_state_machine_init(
+        state_machine, node, pn, cs, gs, gas, gat, gtg, &options);
+    if (RCL_RET_OK != ret) {
+      std::string error_msg = rcl_get_error_string().str;
+      rcl_reset_error();
+      free(state_machine);
+      Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
+      return env.Undefined();
+    }
+  }
 
   auto js_obj = RclHandle::NewInstance(
       env, state_machine, node_handle, [node, env](void* ptr) {
@@ -95,11 +130,18 @@ Napi::Value CreateLifecycleStateMachine(const Napi::CallbackInfo& info) {
   const rcl_node_options_t* node_options =
       reinterpret_cast<const rcl_node_options_t*>(rcl_node_get_options(node));
 
-  THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
-                           rcl_lifecycle_state_machine_init(
-                               state_machine, node, pn, cs, gs, gas, gat, gtg,
-                               true, &node_options->allocator),
-                           rcl_get_error_string().str);
+  {
+    rcl_ret_t ret = rcl_lifecycle_state_machine_init(
+        state_machine, node, pn, cs, gs, gas, gat, gtg, true,
+        &node_options->allocator);
+    if (RCL_RET_OK != ret) {
+      std::string error_msg = rcl_get_error_string().str;
+      rcl_reset_error();
+      free(state_machine);
+      Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
+      return env.Undefined();
+    }
+  }
 
   auto js_obj = RclHandle::NewInstance(
       env, state_machine, node_handle, [node, node_options, env](void* ptr) {

package/src/rcl_node_bindings.cpp

@@ -224,10 +224,17 @@ Napi::Value CreateNode(const Napi::CallbackInfo& info) {
     options.rosout_qos = *qos_profile;
   }
 
-  THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
-                           rcl_node_init(node, node_name.c_str(),
-                                         name_space.c_str(), context, &options),
-                           rcl_get_error_string().str);
+  {
+    rcl_ret_t ret = rcl_node_init(node, node_name.c_str(), name_space.c_str(),
+                                  context, &options);
+    if (RCL_RET_OK != ret) {
+      std::string error_msg = rcl_get_error_string().str;
+      rcl_reset_error();
+      free(node);
+      Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
+      return env.Undefined();
+    }
+  }
 
   auto handle = RclHandle::NewInstance(env, node, nullptr, [env](void* ptr) {
     rcl_node_t* node = reinterpret_cast<rcl_node_t*>(ptr);

package/src/rcl_publisher_bindings.cpp

@@ -51,9 +51,17 @@ Napi::Value CreatePublisher(const Napi::CallbackInfo& info) {
       publisher_ops.qos = *qos_profile;
     }
 
-    THROW_ERROR_IF_NOT_EQUAL(
-        rcl_publisher_init(publisher, node, ts, topic.c_str(), &publisher_ops),
-        RCL_RET_OK, rcl_get_error_string().str);
+    {
+      rcl_ret_t ret = rcl_publisher_init(publisher, node, ts, topic.c_str(),
+                                         &publisher_ops);
+      if (RCL_RET_OK != ret) {
+        std::string error_msg = rcl_get_error_string().str;
+        rcl_reset_error();
+        free(publisher);
+        Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
+        return env.Undefined();
+      }
+    }
 
     auto js_obj = RclHandle::NewInstance(
         env, publisher, node_handle, [node, env](void* ptr) {
@@ -66,6 +74,7 @@ Napi::Value CreatePublisher(const Napi::CallbackInfo& info) {
 
     return js_obj;
   } else {
+    free(publisher);
     Napi::Error::New(env, GetErrorMessageAndClear())
         .ThrowAsJavaScriptException();
     return env.Undefined();

package/src/rcl_service_bindings.cpp

@@ -52,9 +52,17 @@ Napi::Value CreateService(const Napi::CallbackInfo& info) {
       service_ops.qos = *qos_profile;
     }
 
-    THROW_ERROR_IF_NOT_EQUAL(
-        rcl_service_init(service, node, ts, service_name.c_str(), &service_ops),
-        RCL_RET_OK, rcl_get_error_string().str);
+    {
+      rcl_ret_t ret = rcl_service_init(service, node, ts, service_name.c_str(),
+                                       &service_ops);
+      if (RCL_RET_OK != ret) {
+        std::string error_msg = rcl_get_error_string().str;
+        rcl_reset_error();
+        free(service);
+        Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
+        return env.Undefined();
+      }
+    }
     auto js_obj = RclHandle::NewInstance(
         env, service, node_handle, [node, env](void* ptr) {
           rcl_service_t* service = reinterpret_cast<rcl_service_t*>(ptr);
@@ -88,6 +96,7 @@ Napi::Value RclTakeRequest(const Napi::CallbackInfo& info) {
     return js_obj;
   }
 
+  free(header);
   return env.Undefined();
 }
 

package/src/rcl_subscription_bindings.cpp

@@ -19,6 +19,8 @@
 
 #include <cstdio>
 #include <memory>
+#include <rcpputils/scope_exit.hpp>
+// NOLINTNEXTLINE
 #include <string>
 
 #include "macros.h"
@@ -108,12 +110,6 @@ Napi::Value CreateSubscription(const Napi::CallbackInfo& info) {
       rcl_ret_t ret = rcl_subscription_options_set_content_filter_options(
           expression.c_str(), argc, (const char**)argv, &subscription_ops);
 
-      if (ret != RCL_RET_OK) {
-        std::string error_string = rcl_get_error_string().str;
-        rcl_reset_error();
-        Napi::Error::New(env, error_string).ThrowAsJavaScriptException();
-      }
-
       if (argc) {
         for (int i = 0; i < argc; i++) {
           free(argv[i]);
@@ -122,7 +118,10 @@ Napi::Value CreateSubscription(const Napi::CallbackInfo& info) {
       }
 
       if (ret != RCL_RET_OK) {
+        std::string error_string = rcl_get_error_string().str;
+        rcl_reset_error();
         free(subscription);
+        Napi::Error::New(env, error_string).ThrowAsJavaScriptException();
         return env.Undefined();
       }
     }
@@ -137,8 +136,8 @@ Napi::Value CreateSubscription(const Napi::CallbackInfo& info) {
     if (ret != RCL_RET_OK) {
       std::string error_msg = rcl_get_error_string().str;
       rcl_reset_error();
-      Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
       free(subscription);
+      Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
       return env.Undefined();
     }
 
@@ -157,9 +156,9 @@ Napi::Value CreateSubscription(const Napi::CallbackInfo& info) {
 
     return js_obj;
   } else {
-    Napi::Error::New(env, GetErrorMessageAndClear())
-        .ThrowAsJavaScriptException();
+    std::string error_msg = GetErrorMessageAndClear();
     free(subscription);
+    Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
     return env.Undefined();
   }
 }
@@ -194,10 +193,16 @@ Napi::Value RclTakeRaw(const Napi::CallbackInfo& info) {
     return env.Undefined();
   }
 
+  RCPPUTILS_SCOPE_EXIT({
+    rcl_ret_t fini_ret = rmw_serialized_message_fini(&msg);
+    if (fini_ret != RCL_RET_OK) {
+      rcl_reset_error();
+    }
+  });
+
   Napi::Buffer<char> buffer = Napi::Buffer<char>::Copy(
       env, reinterpret_cast<char*>(msg.buffer), msg.buffer_length);
-  THROW_ERROR_IF_NOT_EQUAL(rmw_serialized_message_fini(&msg), RCL_RET_OK,
-                           "Failed to deallocate message buffer");
+
   return buffer;
 }
 
@@ -369,6 +374,14 @@ Napi::Value GetContentFilter(const Napi::CallbackInfo& info) {
     return env.Undefined();
   }
 
+  RCPPUTILS_SCOPE_EXIT({
+    rcl_ret_t fini_ret =
+        rcl_subscription_content_filter_options_fini(subscription, &options);
+    if (fini_ret != RCL_RET_OK) {
+      rcl_reset_error();
+    }
+  });
+
   // Create result object
   Napi::Object result = Napi::Object::New(env);
   result.Set(
@@ -387,16 +400,6 @@ Napi::Value GetContentFilter(const Napi::CallbackInfo& info) {
   }
   result.Set("parameters", parameters);
 
-  // Cleanup
-  rcl_ret_t fini_ret =
-      rcl_subscription_content_filter_options_fini(subscription, &options);
-  if (fini_ret != RCL_RET_OK) {
-    std::string error_msg = rcl_get_error_string().str;
-    rcl_reset_error();
-    Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
-    return env.Undefined();
-  }
-
   return result;
 }
 

package/src/rcl_timer_bindings.cpp

@@ -19,6 +19,7 @@
 
 #include <memory>
 #include <mutex>
+#include <string>
 #include <unordered_map>
 
 #include "macros.h"
@@ -82,16 +83,30 @@ Napi::Value CreateTimer(const Napi::CallbackInfo& info) {
   *timer = rcl_get_zero_initialized_timer();
 
 #if ROS_VERSION > 2305  // After Iron.
-  THROW_ERROR_IF_NOT_EQUAL(
-      RCL_RET_OK,
-      rcl_timer_init2(timer, clock, context, period_nsec, nullptr,
-                      rcl_get_default_allocator(), /*autostart=*/true),
-      rcl_get_error_string().str);
+  {
+    rcl_ret_t ret = rcl_timer_init2(timer, clock, context, period_nsec, nullptr,
+                                    rcl_get_default_allocator(),
+                                    /*autostart=*/true);
+    if (RCL_RET_OK != ret) {
+      std::string error_msg = rcl_get_error_string().str;
+      rcl_reset_error();
+      free(timer);
+      Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
+      return env.Undefined();
+    }
+  }
 #else
-  THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
-                           rcl_timer_init(timer, clock, context, period_nsec,
-                                          nullptr, rcl_get_default_allocator()),
-                           rcl_get_error_string().str);
+  {
+    rcl_ret_t ret = rcl_timer_init(timer, clock, context, period_nsec, nullptr,
+                                   rcl_get_default_allocator());
+    if (RCL_RET_OK != ret) {
+      std::string error_msg = rcl_get_error_string().str;
+      rcl_reset_error();
+      free(timer);
+      Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
+      return env.Undefined();
+    }
+  }
 #endif
 
   auto js_obj =

package/src/rcl_type_description_service_bindings.cpp

@@ -15,9 +15,12 @@
 #include "rcl_type_description_service_bindings.h"
 
 #include <napi.h>
+#include <rcl/error_handling.h>
 #include <rcl/rcl.h>
 #include <rmw/types.h>
 
+#include <string>
+
 #include "rcl_handle.h"
 
 namespace rclnodejs {
@@ -31,8 +34,13 @@ Napi::Value InitTypeDescriptionService(const Napi::CallbackInfo& info) {
   *service = rcl_get_zero_initialized_service();
   rcl_ret_t ret = rcl_node_type_description_service_init(service, node);
   if (RCL_RET_OK != ret) {
-    Napi::Error::New(env, "Failed to initialize type description service")
+    std::string error_msg = rcl_get_error_string().str;
+    rcl_reset_error();
+    free(service);
+    Napi::Error::New(
+        env, "Failed to initialize type description service: " + error_msg)
         .ThrowAsJavaScriptException();
+    return env.Undefined();
   }
 
   auto service_handle =

package/test_data_integrity.js

@@ -0,0 +1,108 @@
+// Data integrity + throughput test for subscription
+'use strict';
+
+const rclnodejs = require('./index.js');
+
+const PUBLISH_HZ = 50;
+const TEST_DURATION_SEC = 10;
+
+async function main() {
+  await rclnodejs.init();
+
+  const pubNode = new rclnodejs.Node('data_pub_node');
+  const subNode = new rclnodejs.Node('data_sub_node');
+
+  const publisher = pubNode.createPublisher(
+    'std_msgs/msg/Float64MultiArray',
+    '/data_integrity_topic'
+  );
+
+  let msgCount = 0;
+  let errCount = 0;
+  let lastTs = null;
+  const hzSamples = [];
+  const errors = [];
+
+  subNode.createSubscription(
+    'std_msgs/msg/Float64MultiArray',
+    '/data_integrity_topic',
+    (msg) => {
+      const now = Date.now();
+      msgCount++;
+
+      // --- Data validation ---
+      // Each published message has data = [seqNo, seqNo*1.5, seqNo*2.5]
+      // Verify structure and values
+      if (!msg || !msg.data) {
+        errCount++;
+        errors.push(`msg#${msgCount}: missing data field, got: ${JSON.stringify(msg)}`);
+      } else if (!Array.isArray(msg.data) && !(msg.data instanceof Float64Array)) {
+        errCount++;
+        errors.push(`msg#${msgCount}: data is not array-like, type=${typeof msg.data}`);
+      } else if (msg.data.length !== 3) {
+        errCount++;
+        errors.push(`msg#${msgCount}: expected 3 elements, got ${msg.data.length}`);
+      } else {
+        const seqNo = msg.data[0];
+        const expectedB = seqNo * 1.5;
+        const expectedC = seqNo * 2.5;
+
+        if (Math.abs(msg.data[1] - expectedB) > 1e-9) {
+          errCount++;
+          errors.push(
+            `msg#${msgCount}: data[1] expected ${expectedB}, got ${msg.data[1]}`
+          );
+        }
+        if (Math.abs(msg.data[2] - expectedC) > 1e-9) {
+          errCount++;
+          errors.push(
+            `msg#${msgCount}: data[2] expected ${expectedC}, got ${msg.data[2]}`
+          );
+        }
+      }
+
+      if (lastTs) {
+        hzSamples.push(1000 / (now - lastTs));
+      }
+      lastTs = now;
+    }
+  );
+
+  pubNode.spin();
+  subNode.spin();
+
+  let pubSeq = 0;
+  const pubInterval = setInterval(() => {
+    pubSeq++;
+    publisher.publish({ data: [pubSeq, pubSeq * 1.5, pubSeq * 2.5] });
+  }, 1000 / PUBLISH_HZ);
+
+  setTimeout(() => {
+    clearInterval(pubInterval);
+
+    console.log(`\n=== Data Integrity Test Results ===`);
+    console.log(`Published:    ${pubSeq} messages at ${PUBLISH_HZ} Hz`);
+    console.log(`Received:     ${msgCount} messages`);
+    console.log(`Data errors:  ${errCount}`);
+
+    if (errors.length > 0) {
+      console.log(`\nFirst 10 errors:`);
+      errors.slice(0, 10).forEach((e) => console.log(`  ${e}`));
+    }
+
+    if (hzSamples.length > 0) {
+      const avgHz = hzSamples.reduce((a, b) => a + b, 0) / hzSamples.length;
+      console.log(`\nAvg Hz:       ${avgHz.toFixed(2)}`);
+    }
+
+    const pass = errCount === 0 && msgCount > 0;
+    console.log(`\nResult:       ${pass ? 'PASS - all data correct' : 'FAIL'}`);
+
+    pubNode.stop();
+    subNode.stop();
+    rclnodejs.shutdown();
+    process.exit(pass ? 0 : 1);
+  }, TEST_DURATION_SEC * 1000);
+}
+
+main().catch(console.error);