Global

Members

(constant) CallbackReturnCode :number

The values returned by TransitionCallback.
Type:
  • number
Source:

(constant) CancelResponse :number

Possible cancel responses.
Type:
  • number
Properties:
Name Type Description
REJECT number
ACCEPT number
Source:

(constant) ClockType :number

Enum for ClockType
Type:
  • number
Properties:
Name Type Description
ROS_TIME number
SYSTEM_TIME number
STEADY_TIME number
Source:

(constant) DEFAULT_NUMERIC_RANGE_TOLERANCE :number

The plus/minus tolerance for determining number equivalence.
Type:
  • number
Source:
See:

(constant) DistroId

enum style distribution identifiers
Source:

(readonly) DurabilityPolicy :number

Enum for DurabilityPolicy
Type:
  • number
Properties:
Name Type Description
RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT number
RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL number
RMW_QOS_POLICY_DURABILITY_VOLATILE number
Source:

(constant) GoalResponse :number

Possible goal responses.
Type:
  • number
Properties:
Name Type Description
REJECT number
ACCEPT number
Source:

(readonly) HistoryPolicy :number

Enum for HistoryPolicy
Type:
  • number
Properties:
Name Type Description
RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT number
RMW_QOS_POLICY_HISTORY_KEEP_LAST number
RMW_QOS_POLICY_HISTORY_KEEP_ALL number
Source:

(readonly) LoggingSeverity :number

Enum for LoggingSeverity
Type:
  • number
Properties:
Name Type Description
UNSET number
DEBUG number
INFO number
WARN number
ERROR number
FATAL number
Source:

(constant) ParameterType :number

Enum for ParameterType
Type:
  • number
Properties:
Name Type Description
PARAMETER_NOT_SET number
PARAMETER_BOOL number
PARAMETER_INTEGER number
PARAMETER_DOUBLE number
PARAMETER_STRING number
PARAMETER_BYTE_ARRAY number
PARAMETER_BOOL_ARRAY number
PARAMETER_INTEGER_ARRAY number
PARAMETER_DOUBLE_ARRAY number
PARAMETER_STRING_ARRAY number
Source:

(constant) PublisherEventType :number

Enumeration for PublisherEventCallbacks event types.
Type:
  • number
Properties:
Name Type Description
PUBLISHER_OFFERED_DEADLINE_MISSED number
PUBLISHER_LIVELINESS_LOST number
PUBLISHER_OFFERED_INCOMPATIBLE_QOS number
PUBLISHER_INCOMPATIBLE_TYPE number
PUBLISHER_MATCHED number
Source:

(readonly) ReliabilityPolicy :number

Enum for ReliabilityPolicy
Type:
  • number
Properties:
Name Type Description
RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT number
RMW_QOS_POLICY_RELIABILITY_RELIABLE number
RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT number
Source:

(constant) ServiceIntrospectionStates :ServiceIntrospectionState

Enum for service introspection states.
Type:
Properties:
Name Type Description
OFF ServiceIntrospectionState
METADATA ServiceIntrospectionState
CONTENTS ServiceIntrospectionState
Source:

(constant) SubscriptionEventType :number

Enumeration for SubscriptionEventCallbacks event types.
Type:
  • number
Properties:
Name Type Description
SUBSCRIPTION_REQUESTED_DEADLINE_MISSED number
SUBSCRIPTION_LIVELINESS_CHANGED number
SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS number
SUBSCRIPTION_MESSAGE_LOST number
SUBSCRIPTION_INCOMPATIBLE_TYPE number
SUBSCRIPTION_MATCHED number
Source:

Methods

applySerializationMode(message, serializationMode) → {*}

Apply serialization mode conversion to a message object
Parameters:
Name Type Description
message * The message object to convert
serializationMode string The serialization mode ('default', 'plain', 'json')
Source:
Returns:
The converted message
Type
*

compareVersions(version1, version2, operator) → {boolean}

Compare two semantic version strings. Supports version strings in the format: x.y.z or x.y.z.w where x, y, z, w are integers.
Parameters:
Name Type Description
version1 string First version string (e.g., '1.2.3')
version2 string Second version string (e.g., '1.2.4')
operator string Comparison operator: '<', '<=', '>', '>=', '==', '!='
Source:
Returns:
Result of the comparison
Type
boolean
Example
compareVersions('1.2.3', '1.2.4', '<')   // true
compareVersions('2.0.0', '1.9.9', '>')   // true
compareVersions('1.2.3', '1.2.3', '==')  // true
compareVersions('1.2.3', '1.2.3', '>=')  // true

(async) copy(src, dest, options) → {Promise.<void>}

Copy file or directory recursively Replaces: fse.copy()
Parameters:
Name Type Description
src string Source path
dest string Destination path
options object Copy options
Source:
Returns:
Type
Promise.<void>

defaultCancelCallback() → {number}

No cancellations.
Source:
Returns:
- Always responds with rejection
Type
number

defaultGoalCallback() → {number}

Accept all goals.
Source:
Returns:
- Always responds with acceptance.
Type
number

defaultHandleAcceptedCallback(goalHandle) → {undefined}

Execute the goal.
Parameters:
Name Type Description
goalHandle ServerGoalHandle The server goal handle.
Source:
Returns:
Type
undefined

detectUbuntuCodename() → {string|null}

Detect Ubuntu codename from /etc/os-release
Source:
Returns:
Ubuntu codename (e.g., 'noble', 'jammy') or null if not detectable
Type
string | null

(async) emptyDir(dirPath) → {Promise.<void>}

Empty a directory (remove all contents but keep the directory) Replaces: fse.emptyDir()
Parameters:
Name Type Description
dirPath string Path to directory
Source:
Returns:
Type
Promise.<void>

(async) ensureDir(dirPath) → {Promise.<void>}

Ensure directory exists, create recursively if needed (async) Replaces: fse.ensureDir() / fse.mkdirs()
Parameters:
Name Type Description
dirPath string Path to directory
Source:
Returns:
Type
Promise.<void>

ensureDirSync(dirPath)

Ensure directory exists, create recursively if needed (sync) Replaces: fse.mkdirSync()
Parameters:
Name Type Description
dirPath string Path to directory
Source:

getActionClientNamesAndTypesByNode(node, nodeName, namespace) → {array}

Get a list of action names and types for action clients associated with a node.
Parameters:
Name Type Description
node Node The node used for discovery.
nodeName string The name of a remote node to get action clients for.
namespace string Namespace of the remote node.
Source:
Returns:
- An array of the names and types.
Type
array

getActionNamesAndTypes(node) → {array}

Get a list of action names and types.
Parameters:
Name Type Description
node Node The node used for discovery.
Source:
Returns:
- An array of the names and types.
Type
array

getActionServerNamesAndTypesByNode(node, nodeName, namespace) → {array}

Get a list of action names and types for action servers associated with a node.
Parameters:
Name Type Description
node Node The node used for discovery.
nodeName string The name of a remote node to get action servers for.
namespace string Namespace of the remote node.
Source:
Returns:
- An array of the names and types.
Type
array

(async) getCurrentGeneratorVersion() → {Promise.<(string|null)>}

Get the version of the generator that was used for the currently present interfaces.
Source:
Throws:
if there was an error reading the *generator.json* file (except for it being absent)
Type
Error
Returns:
The current version or null if the *generator.json* file was not found
Type
Promise.<(string|null)>

isClose(a, b, rtolopt, atolopt) → {boolean}

Check if two numbers are equal within a given tolerance. This function compares two numbers using both relative and absolute tolerance, matching the behavior of the 'is-close' npm package. The comparison uses the formula: abs(a - b) <= max(rtol * max(abs(a), abs(b)), atol) Implementation checks: 1. Absolute tolerance: abs(a - b) <= atol 2. Relative tolerance: abs(a - b) / max(abs(a), abs(b)) <= rtol
Parameters:
Name Type Attributes Default Description
a number The first number to compare
b number The second number to compare
rtol number <optional>
 1e-9 The relative tolerance parameter (default: 1e-9)
atol number <optional>
 0.0 The absolute tolerance parameter (default: 0.0)
Source:
Returns:
True if the numbers are close within the tolerance
Type
boolean
Example
isClose(1.0, 1.0) // true - exact equality
isClose(1.0, 1.1, 0.01) // false - relative diff: 0.1/1.1 ≈ 0.091 > 0.01
isClose(10, 10.00001, 1e-6) // true - relative diff: 0.00001/10 = 1e-6 <= 1e-6
isClose(0, 0.05, 0, 0.1) // true - absolute diff: 0.05 <= 0.1 (atol)

isTypedArray(value) → {boolean}

Check if a value is a TypedArray
Parameters:
Name Type Description
value * The value to check
Source:
Returns:
True if the value is a TypedArray
Type
boolean

isValidSerializationMode(mode) → {boolean}

Validate serialization mode
Parameters:
Name Type Description
mode string The serialization mode to validate
Source:
Returns:
True if valid
Type
boolean

(async) mkdir(dirPath, options) → {Promise.<void>}

Create directory (async) Replaces: fse.mkdir()
Parameters:
Name Type Description
dirPath string Path to directory
options object mkdir options
Source:
Returns:
Type
Promise.<void>

needsJSONConversion(value) → {boolean}

Check if a value needs JSON conversion (BigInt, functions, etc.)
Parameters:
Name Type Description
value * The value to check
Source:
Returns:
True if the value needs special JSON handling
Type
boolean

parameterTypeFromValue(value) → {ParameterType}

Infer a ParameterType for JS primitive types: string, boolean, number and arrays of these types. A TypeError is thrown for a value who's type is not one of the set listed.
Parameters:
Name Type Description
value any The value to infer it's ParameterType
Source:
Returns:
- The ParameterType that best scribes the value.
Type
ParameterType

(async) pathExists(filePath) → {Promise.<boolean>}

Check if path exists (async) Replaces: fse.exists()
Parameters:
Name Type Description
filePath string Path to check
Source:
Returns:
Type
Promise.<boolean>

readJsonSync(filePath, options) → {any}

Read and parse JSON file synchronously Replaces: fse.readJsonSync()
Parameters:
Name Type Description
filePath string Path to JSON file
options object Read options
Source:
Returns:
Parsed JSON data
Type
any

(async) remove(filePath) → {Promise.<void>}

Remove file or directory (async) Replaces: fse.remove()
Parameters:
Name Type Description
filePath string Path to remove
Source:
Returns:
Type
Promise.<void>

removeSync(filePath)

Remove file or directory (sync) Replaces: fse.removeSync()
Parameters:
Name Type Description
filePath string Path to remove
Source:

ros2Launch(packageName, launchFile, argsopt) → {Promise.<{process: ChildProcess}>}

Run a ROS2 launch file using 'ros2 launch' command.
Parameters:
Name Type Attributes Default Description
packageName string The name of the ROS2 package.
launchFile string The name of the launch file to run.
args Array.<string> <optional>
 [] Additional arguments to pass to the launch file.
Source:
Returns:
A Promise that resolves with the process.
Type
Promise.<{process: ChildProcess}>

ros2Run(packageName, executableName, argsopt) → {Promise.<{process: ChildProcess}>}

Run a ROS2 package executable using 'ros2 run' command.
Parameters:
Name Type Attributes Default Description
packageName string The name of the ROS2 package.
executableName string The name of the executable to run.
args Array.<string> <optional>
 [] Additional arguments to pass to the executable.
Source:
Returns:
A Promise that resolves with the process.
Type
Promise.<{process: ChildProcess}>

toJSONSafe(obj) → {*}

Convert a message to be fully JSON-safe
Parameters:
Name Type Description
obj * The object to convert
Source:
Returns:
The JSON-safe converted object
Type
*

toJSONString(obj, spaceopt) → {string}

Convert a message to a JSON string
Parameters:
Name Type Attributes Description
obj * The object to convert
space number <optional>
 Space parameter for JSON.stringify formatting
Source:
Returns:
The JSON string representation
Type
string

toPlainArrays(obj) → {*}

Convert a message to plain arrays (TypedArray -> regular Array)
Parameters:
Name Type Description
obj * The object to convert
Source:
Returns:
The converted object with plain arrays
Type
*

validType(parameterType) → {boolean}

Determine if a number maps to is a valid ParameterType.
Parameters:
Name Type Description
parameterType ParameterType The value to test.
Source:
Returns:
- True if value is a valid ParameterType; false otherwise.
Type
boolean

validValue(value, type) → {boolean}

Test if value can be represented by a ParameterType.
Parameters:
Name Type Description
value number The value to test.
type ParameterType The ParameterType to test value against.
Source:
Returns:
- True if value can be represented by type.
Type
boolean

(async) writeFile(filePath, data, options) → {Promise.<void>}

Write file with content (async) Replaces: fse.writeFile()
Parameters:
Name Type Description
filePath string Path to file
data string | Buffer Content to write
options object Write options
Source:
Returns:
Type
Promise.<void>

Type Definitions

RequestCallback(request, response) → {undefined}

This callback is called when a request is sent to service
Parameters:
Name Type Description
request Object The request sent to the service
response Response The response to client. Use response.send() to send response object to client
Source:
See:
Returns:
Type
undefined

ResponseCallback(response)

This callback is called when a resopnse is sent back from service
Parameters:
Name Type Description
response Object The response sent from the service
Source:
See:

SerializedState

Type:
  • object
Properties:
Name Type Description
id number code identifying the type of this state.
label string readable name of this state.
Source:

ServiceIntrospectionState

Type:
  • number
Source:

SetParametersCallback(parameters) → {rcl_interfaces.msg.SetParameterResult}

This callback is called when declaring a parameter or setting a parameter. The callback is provided a list of parameters and returns a SetParameterResult to indicate approval or veto of the operation.
Parameters:
Name Type Description
parameters Array.<Parameter> The message published
Source:
See:
Returns:
-
Type
rcl_interfaces.msg.SetParameterResult

SubscriptionCallback(message)

This callback is called when a message is published
Parameters:
Name Type Description
message Object The message published
Source:
See:

TransitionCallback(previousState) → {CallbackReturnCode}

This callback is invoked when LifecycleNode is transitioning to a new state.
Parameters:
Name Type Description
previousState State The previous node lifecycle state.
Source:
See:
Returns:
- The result of the callback.
Type
CallbackReturnCode