Add polyfill for AbortSignal.any() for Node.js <= 18.20

Author: minggangw

.github/workflows/linux-arm64-build-and-test.yml

@@ -20,7 +20,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        node-version: [24.X]
+        node-version: [16.X]
         architecture: [arm64]
         ros_distribution:
           - humble

lib/client.js

@@ -19,6 +19,32 @@ const DistroUtils = require('./distro.js');
 const Entity = require('./entity.js');
 const debug = require('debug')('rclnodejs:client');
 
+// Polyfill for AbortSignal.any() for Node.js <= 18.20
+// AbortSignal.any() was added in Node.js 20.3.0
+// See https://developer.mozilla.org/en-US/docs/Web/API/AbortSignal/any_static
+if (!AbortSignal.any) {
+  AbortSignal.any = function (signals) {
+    const controller = new AbortController();
+
+    for (const signal of signals) {
+      if (signal.aborted) {
+        controller.abort(signal.reason);
+        break;
+      }
+
+      signal.addEventListener(
+        'abort',
+        () => {
+          controller.abort(signal.reason);
+        },
+        { once: true }
+      );
+    }
+
+    return controller.signal;
+  };
+}
+
 /**
  * @class - Class representing a Client in ROS
  * @hideconstructor

test/test-async-client.js

@@ -260,6 +260,12 @@ describe('Client async functionality', function () {
     });
 
     it('should handle zero and negative timeouts', async function () {
+      // Skip this test on Node.js < 18.20 where AbortSignal.timeout(0) throws RangeError
+      const [major, minor] = process.versions.node.split('.').map(Number);
+      if (major < 18 || (major === 18 && minor < 20)) {
+        this.skip();
+      }
+
       const request = { a: BigInt(1), b: BigInt(1) };
 
       try {