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‎README.md‎

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| develop | [![Build Status](https://travis-ci.org/RobotWebTools/rclnodejs.svg?branch=develop)](https://travis-ci.org/RobotWebTools/rclnodejs) | [![macOS Build Status](https://circleci.com/gh/RobotWebTools/rclnodejs/tree/develop.svg?style=shield)](https://circleci.com/gh/RobotWebTools/rclnodejs) | [![Build status](https://ci.appveyor.com/api/projects/status/upbc7tavdag1aa5e/branch/develop?svg=true)](https://ci.appveyor.com/project/minggangw/rclnodejs/branch/develop) |
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| master | [![Build Status](https://travis-ci.org/RobotWebTools/rclnodejs.svg?branch=master)](https://travis-ci.org/RobotWebTools/rclnodejs) | [![macOS Build Status](https://circleci.com/gh/RobotWebTools/rclnodejs/tree/master.svg?style=shield)](https://circleci.com/gh/RobotWebTools/rclnodejs) | [![Build status](https://ci.appveyor.com/api/projects/status/upbc7tavdag1aa5e/branch/master?svg=true)](https://ci.appveyor.com/project/minggangw/rclnodejs/branch/master) |
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**rclnodejs** is a Node.js client library for the Robot Operating System
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([ROS 2](https://index.ros.org/doc/ros2/)). It provides a JavaScript API
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and tooling for ROS 2 programming. TypeScript declarations, i.e., (*.d.ts),
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**rclnodejs** is a Node.js client library for the Robot Operating System
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([ROS 2](https://index.ros.org/doc/ros2/)). It provides a JavaScript API
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and tooling for ROS 2 programming. TypeScript declarations, i.e., (\*.d.ts),
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are included to support use in TypeScript projects.
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Here's an example for how to create a ROS 2 node that publishes a string message in a few lines of JavaScript.
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| RCLNODEJS Version | Compatible ROS 2 Release |
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| :-------------------------------------------------------------------------------------------------------------------------------------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
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| [0.18.0 (current)](https://www.npmjs.com/package/rclnodejs/v/0.18.0) ([API](http://robotwebtools.org/rclnodejs/docs/0.18.0/index.html)) | [Foxy Fitzroy](https://github.com/ros2/ros2/releases/tag/release-foxy-20201211) / [Eloquent Elusor](https://github.com/ros2/ros2/releases/tag/release-eloquent-20200124) |
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| [0.18.1 (current)](https://www.npmjs.com/package/rclnodejs/v/0.18.1) ([API](http://robotwebtools.org/rclnodejs/docs/0.18.0/index.html)) | [Foxy Fitzroy](https://github.com/ros2/ros2/releases/tag/release-foxy-20201211) / [Eloquent Elusor](https://github.com/ros2/ros2/releases/tag/release-eloquent-20200124) |
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| [0.10.3](https://github.com/RobotWebTools/rclnodejs/releases/tag/0.10.3) | [Dashing Diademata - Patch 4](https://github.com/ros2/ros2/releases/tag/release-dashing-20191018) |
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- **Note:** to install rclnodejs from GitHub: add `"rclnodejs":"RobotWebTools/rclnodejs#<branch>"` to your `package.json` depdendency section.
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`rclnodejs` API can be used in TypeScript projects. You can find the TypeScript declaration files (\*.d.ts) in the `types/` folder.
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Your `tsconfig.json` file should include the following compiler options:
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```jsonc
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{
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"compilerOptions": {
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});
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```
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The benefits of using TypeScript become evident when working with more complex use-cases. ROS messages are defined in the `types/interfaces.d.ts` module. This module is updated as part of the `generate-messages` process described in the next section.
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The benefits of using TypeScript become evident when working with more complex use-cases. ROS messages are defined in the `types/interfaces.d.ts` module. This module is updated as part of the `generate-messages` process described in the next section.
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## ROS2 Interface Message Generation (important)
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ROS components communicate by sending and receiving messages described
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by the interface definition language (IDL). ROS client libraries such as
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rclnodejs are responsible for converting these IDL message descriptions
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into source code of their target language. For this, rclnodejs provides
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the `generate-messages` npm script that reads in the IDL
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messages files of a ROS environment and generates corresponding JavaScript
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message interface files. Additionally, the tool generates the TypeScript
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`interface.d.ts` file containing declarations for every IDL message file
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processed.
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ROS components communicate by sending and receiving messages described
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by the interface definition language (IDL). ROS client libraries such as
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rclnodejs are responsible for converting these IDL message descriptions
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into source code of their target language. For this, rclnodejs provides
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the `generate-messages` npm script that reads in the IDL
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messages files of a ROS environment and generates corresponding JavaScript
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message interface files. Additionally, the tool generates the TypeScript
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`interface.d.ts` file containing declarations for every IDL message file
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processed.
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Learn more about ROS interfaces and IDL [here](https://index.ros.org/doc/ros2/Concepts/About-ROS-Interfaces/).
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```
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### Maintaining Generated JavaScript Message Files
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Message files are generated as a post-install step of the rclnodejs
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installation process. Thereafter, you will need to manually run the
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message generation script when new ROS message packages are installed
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for which your ROS2-nodejs project has a dependency.
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Message files are generated as a post-install step of the rclnodejs
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installation process. Thereafter, you will need to manually run the
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message generation script when new ROS message packages are installed
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for which your ROS2-nodejs project has a dependency.
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### Running `generate-messages` Utility
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To use `generate-messages` from your Nodejs package, create an npm
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To use `generate-messages` from your Nodejs package, create an npm
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script entry in your package.json file as shown:
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```
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"scripts": {
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"generate-messages": "generate-messages"
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// your other scripts here
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}
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````
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```
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To run the script use `npm` as follows:
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```
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npm run generate-messages
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```
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The newly generated JavaScript files can be found at
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`<yourproject>/node_modules/rclnodejs/generated/`.
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The newly generated JavaScript files can be found at
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`<yourproject>/node_modules/rclnodejs/generated/`.
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## Contributing
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‎package.json‎

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{
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"name": "rclnodejs",
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"version": "0.18.0",
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"version": "0.18.1",
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"description": "ROS2.0 JavaScript client with Node.js",
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"main": "index.js",
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"types": "types/index.d.ts",

‎scripts/npmjs-readme.md‎

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| RCLNODEJS Version | Compatible ROS 2 Release |
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| :-------------------------------------------------------------------------------------------------------------------------------------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
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| [0.18.0 (current)](https://www.npmjs.com/package/rclnodejs/v/0.18.0) ([API](http://robotwebtools.org/rclnodejs/docs/0.18.0/index.html)) | [Foxy Fitzroy](https://github.com/ros2/ros2/releases/tag/release-foxy-20201211) / [Eloquent Elusor](https://github.com/ros2/ros2/releases/tag/release-eloquent-20200124) |
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| [0.18.1 (current)](https://www.npmjs.com/package/rclnodejs/v/0.18.1) ([API](http://robotwebtools.org/rclnodejs/docs/0.18.0/index.html)) | [Foxy Fitzroy](https://github.com/ros2/ros2/releases/tag/release-foxy-20201211) / [Eloquent Elusor](https://github.com/ros2/ros2/releases/tag/release-eloquent-20200124) |
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| [0.10.3](https://github.com/RobotWebTools/rclnodejs/releases/tag/0.10.3) | [Dashing Diademata - Patch 4](https://github.com/ros2/ros2/releases/tag/release-dashing-20191018) |
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## Documentation

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