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RobotWebTools / rclnodejs

Node.js version of ROS 2.0 client
https://docs.ros.org/en/humble/Concepts/Basic/About-Client-Libraries.html?highlight=rclnodejs#community-maintained
Apache License 2.0
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Add support for service introspection #905

Closed wayneparrott closed 10 months ago

wayneparrott commented 1 year ago

The upcoming ROS 2 iron release adds a service introspection feature. This is a tracking feature request for adding service introspection to rclnodejs.

References: rep-2012: https://github.com/ros-infrastructure/rep/blob/336d3b66135ca71a82d5e903de1e865e4ceddd2d/rep-2012.rst https://github.com/ros2/ros2/issues/1285 https://github.com/ros2/rcl/pull/997 https://github.com/ros2/rclpy/pull/988/commits/963b548d33f9d467d8bf1fb86abfa73349fb705f https://github.com/ros2/rclpy/blob/f6d652fa2d5d3a8164cc69fb543ae0693e958262/rclpy/rclpy/client.py#L185 https://github.com/ros2/rclpy/blob/rolling/rclpy/rclpy/service_introspection.py https://github.com/ros2/rclpy/blob/rolling/rclpy/test/test_service_introspection.py

wayneparrott commented 1 year ago

Note: i found a bug in test-service-introspection.js that I'm working on a fix. The issue is with how I'm calling the skip() function in mocha which is used for ros2 releases that do not support service introspection, e.g., humble and foxy. I plan to provide an update later today or tomorrow at the latest.