API Reference

Module: rclnodejs

ROS2.0 JavaScript client with Node.js

A module that exposes the rclnodejs interfaces.
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Members

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(static) ActionClient

ActionClient class
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(static) ActionServer

ActionServer class
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(static) ActionUuid

ActionUuid class
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(static) CancelResponse

ServerGoalHandle enum
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(static) ClientGoalHandle

ClientGoalHandle class
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(static) Clock

Clock class
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(static) ClockType

ClockType enum
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(static) Context

Context class
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(static) DistroUtils

DistroUtils
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(static) Duration

Duration class
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(static) FloatingPointRange

FloatingPointRange class
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(static) GoalResponse

GoalResponse enum
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(static) IntegerRange

IntegerRange class
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(static) Node

Node class
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(static) NodeOptions

NodeOptions class
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(static) Parameter

Parameter
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(static) ParameterDescriptor

ParameterDescriptor
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(static) ParameterType

ParameterType
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(static) QoS

QoS class
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(static) RMWUtils

RMWUtils
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(static) ROSClock

ROSClock class
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(static) ServerGoalHandle

ServerGoalHandle class
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(static) ServiceIntrospectionStates

ServiceIntrospectionStates
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(static) Time

Time class
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(static) TimeSource

TimeSource class
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(static) getActionClientNamesAndTypesByNode

getActionClientNamesAndTypesByNode function
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(static) getActionNamesAndTypes

getActionNamesAndTypes function
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(static) getActionServerNamesAndTypesByNode

getActionServerNamesAndTypesByNode function
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(static) lifecycle

Lifecycle namespace
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(static) logging

Logging class
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(static) validator

validator object
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(inner, constant) The :number

plus/minus tolerance for determining number equivalence.
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  • number
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Methods

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(static) createLifecycleNode(nodeName, namespaceopt, contextopt, optionsopt, enableCommunicationsInterfaceopt) → {LifecycleNode}

Create a LifecycleNode, a managed Node that implements a well-defined life-cycle state model using the ros2 client library (rcl) lifecyle api.
Parameters:
Name Type Attributes Default Description
nodeName string The name used to register in ROS.
namespace string <optional>
 '' The namespace used in ROS.
context Context <optional>
 Context.defaultContext() The context to create the node in.
options NodeOptions <optional>
 NodeOptions.defaultOptions The options to configure the new node behavior.
enableCommunicationsInterface boolean <optional>
 true enable lifecycle service interfaces, e.g., GetState.
Deprecated:
  • since 0.18.0, Use new LifecycleNode constructor.
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Throws:
If the given context is not registered.
Type Error
Returns:
A new instance of the specified node.
Type LifecycleNode
function

(static) createMessageObject(type) → {Object|undefined}

Create a plain JavaScript from the specified type identifier.
Parameters:
Name Type Description
type string | Object - the type identifier, acceptable formats could be 'std_msgs/std/String' or {package: 'std_msgs', type: 'msg', name: 'String'}
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Returns:
A plain JavaScript of that type, or undefined if the object could not be created
Type Object | undefined
function

(static) createNode(nodeName, namespaceopt, contextopt, optionsopt) → {Node}

Create and initialize a node.
Parameters:
Name Type Attributes Default Description
nodeName string The name used to register in ROS.
namespace string <optional>
 '' The namespace used in ROS.
context Context <optional>
 Context.defaultContext() The context to create the node in.
options NodeOptions <optional>
 NodeOptions.defaultOptions The options to configure the new node behavior.
Deprecated:
  • since 0.18.0, Use new Node constructor.
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Throws:
If the given context is not registered.
Type Error
Returns:
A new instance of the specified node.
Type Node
function

(static) expandTopicName(topicName, nodeName, nodeNamespace) → {string}

Expand a given topic name using given node name and namespace as well.
Parameters:
Name Type Description
topicName string Topic name to be expanded.
nodeName string Name of the node that this topic is associated with.
nodeNamespace string Namespace that the topic is within.
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Returns:
Expanded topic name which is fully qualified.
Type string
function

(static) init(contextopt, argv) → {Promise.<undefined>}

Initialize an RCL environment, i.e., a Context, and regenerate the javascript message files if the output format of the message-generator tool has changed. The context serves as a container for nodes, publishers, subscribers, etc. and must be initialized before use.
Parameters:
Name Type Attributes Default Description
context Context <optional>
 Context.defaultContext() The context to initialize.
argv Array.<string> Process command line arguments.
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Throws:
If the given context has already been initialized or the command line arguments argv could not be parsed.
Type Error
Returns:
A Promise.
Type Promise.<undefined>
function

(static) isShutdown(contextopt) → {boolean}

Determine if an RCL environment identified by a context argument has been shutdown.
Parameters:
Name Type Attributes Default Description
context Context <optional>
 Context.defaultContext() The context to inspect.
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Returns:
Return true if the module is shut down, otherwise return false.
Type boolean
function

(static) isTopicOrServiceHidden(name) → {boolean}

Judge if the topic/service is hidden (see the ROS2 design documentation).
Parameters:
Name Type Description
name string Name of topic/service.
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Returns:
- True if a given topic or service name is hidden, otherwise False.
Type boolean
function

(static) regenerateAll() → {Promise.<undefined>}

Search packages which locate under path $AMENT_PREFIX_PATH, regenerate all JavaScript structs files from the IDL of messages(.msg) and services(.srv) and put these files under folder 'generated'. Any existing files under this folder will be overwritten after the execution.
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Returns:
A Promise.
Type Promise.<undefined>
function

(static) removeSignalHandlers() → {undefined}

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. Application which wishes to implement its own signal handler logic should call this.
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Returns:
Type undefined
function

(static) require(name) → {object}

Get the interface package, which is used by publisher/subscription or client/service.
Parameters:
Name Type Description
name string The name of interface to be required.
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Returns:
- the object of the required package/interface.
Type object
function

(static) shutdown(contextopt) → {undefined}

Shutdown an RCL environment identified by a context. The shutdown process will destroy all nodes and related resources in the context. If no context is explicitly given, the default context will be shut down. This follows the semantics of rclpy.shutdown().
Parameters:
Name Type Attributes Default Description
context Context <optional>
 Context.defaultContext() The context to be shutdown.
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Throws:
If there is a problem shutting down the context or while destroying or shutting down a node within it.
Type Error
Returns:
Type undefined
function

(static) shutdownAll() → {undefined}

Shutdown all RCL environments via their contexts.
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Throws:
If there is a problem shutting down the context or while destroying or shutting down a node within it.
Type Error
Returns:
Type undefined
function

(static) spin(node, timeoutopt) → {undefined}

Start detection and processing of units of work.
Parameters:
Name Type Attributes Default Description
node Node The node to be spun up.
timeout number <optional>
 10 Timeout to wait in milliseconds. Block forever if negative. Don't wait if 0.
Deprecated:
  • since 0.18.0, Use Node.spin(timeout)
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Throws:
If the node is already spinning.
Type Error
Returns:
Type undefined
function

(static) spinOnce(node, timeoutopt) → {undefined}

Spin the node and trigger the event loop to check for one incoming event. Thereafter the node will not received additional events until running additional calls to spin() or spinOnce().
Parameters:
Name Type Attributes Default Description
node Node The node to be spun.
timeout number <optional>
 10 Timeout to wait in milliseconds. Block forever if negative. Don't wait if 0.
Deprecated:
  • since 0.18.0, Use Node.spinOnce(timeout)
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Throws:
If the node is already spinning.
Type Error
Returns:
Type undefined