Introducing ros2 parameters and name remapping (#576)

This PR introduces ROS2 parameter and name remapping support.

Parameter Use-cases:
  Declare Parameters
  Override Declared Parameters
  Override Declared Parameters from yaml parameters file
  List Parameters
  Describe Parameters
  Get Parameters
  Set Parameters
  Set Parameters Atomically

Remap Use-cases:
	Remap node name
	Remap node namespace name
	Remap publisher topic name
	Remap service name

1. Name remapping and paramter overrides w/ yaml file support is
delegated to rcl api.

2. index#init() modified to accept an argv array with --ros-args
commandline arguments.

3. index#createNode() accepts NodeOptions for programmatic defined
parameter overrides.

4. Added parameter.js with
	ParameterType
	Parameter
	ParameterDescription
	FloatingPointRange
	IntegerRange

5. Added is-close module dependency for use in the FloatingPointRange
class.

6. New rcl_bindings functions:
  getParameterOverrides()
  getTopic()
  getServiceName()

7. Node.js changes:

	added instance vars:
  	_parameters
  	_parameterDescriptors
  	_parameterService
  	_parameterEventPublisher

	init() function changes:
  	sets up parameter-overrides
  	optionally declares parameters from parameter-overrides
  	starts parameterService
  	creates parameterEventPublisher

	Node methods:
  	getParameterOverrides()
  	hasParameter()
  	declareParameter()
  	declareParameters()
  	undeclareParameter()
  	getParameter()
  	getParameters()
  	hasParameterDescriptor()
  	getParameterDescriptor()
  	getParameterDescriptors()
  	setParameter()
  	setParameters()
  	setParameterAtomically()
  	setParametersAtomically()
  	_getNativeParameterOverrides()
  	_valdateParameters()

8. Tests files:
	test-parameters.js
	test-parameter-service.js
	test-remapping.js

9. Examples:
	parameter-declaration-example.js
	parameter-override-example.js

Fix #414, #415, #416, #421.

Author: wayneparrott

.gitignore

@@ -16,5 +16,8 @@ cpplint.py
 generated
 types/interfaces.d.ts
 dist
+build
+install
+log
 .vscode
 .project

binding.gyp

@@ -39,6 +39,7 @@
       'libraries': [
         '-lrcl',
         '-lrcutils',
+        '-lrcl_yaml_param_parser',
         '-lrmw',
         '-lrosidl_generator_c',
       ],

example/parameter-declaration-example.js

@@ -0,0 +1,50 @@
+// Copyright (c) 2020 Wayne Parrott. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+'use strict';
+
+const rclnodejs = require('../index.js');
+
+const ParameterType = rclnodejs.Parameters.ParameterType;
+const Parameter = rclnodejs.Parameters.Parameter;
+const ParameterDescriptor = rclnodejs.Parameters.ParameterDescriptor;
+
+async function main() {
+  await rclnodejs.init();
+
+  const node = rclnodejs.createNode('my_node');
+
+  const parameter = new Parameter(
+    'param1',
+    ParameterType.PARAMETER_STRING,
+    'hello world'
+  );
+  const parameterDescriptor = new ParameterDescriptor(
+    'param1',
+    ParameterType.PARAMETER_STRING
+  );
+
+  node.declareParameter(parameter, parameterDescriptor);
+  console.log(`Declared parameter: ${parameter.name}`);
+
+  if (!node.hasParameter('param1')) {
+    console.error(`Unable to find parameter: ${parameter.name}`);
+    return;
+  }
+
+  console.log('Parameter details: ', node.getParameter('param1'));
+  console.log(node.getParameterDescriptor('param1'));
+}
+
+main();

example/parameter-override-example.js

@@ -0,0 +1,54 @@
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+'use strict';
+
+const rclnodejs = require('../index.js');
+
+const ParameterType = rclnodejs.Parameters.ParameterType;
+const Parameter = rclnodejs.Parameters.Parameter;
+const ParameterDescriptor = rclnodejs.Parameters.ParameterDescriptor;
+
+async function main() {
+  const NODE_NAME = 'my_node';
+
+  // commandline override of param1
+  const argv = ['--ros-args', '-p', NODE_NAME + ':param1:=hello ros2'];
+
+  // initialize rclnodejs with commandline argv
+  await rclnodejs.init(rclnodejs.Context.defaultContext(), argv);
+
+  const node = rclnodejs.createNode(NODE_NAME);
+
+  // define param
+  const parameter = new Parameter(
+    'param1',
+    ParameterType.PARAMETER_STRING,
+    'hello world'
+  );
+  const parameterDescriptor = new ParameterDescriptor(
+    'param1',
+    ParameterType.PARAMETER_STRING
+  );
+
+  // declare param1
+  node.declareParameter(parameter, parameterDescriptor);
+  console.log(`Declared parameter: ${parameter.name}`);
+
+  if (!node.hasParameter('param1')) {
+    console.error(`Unable to find parameter: ${parameter.name}`);
+    return;
+  }
+
+  console.log('Parameter overridden: ', node.getParameter('param1'));
+  console.log(node.getParameterDescriptor('param1'));
+}
+
+main();

index.js

@@ -21,6 +21,8 @@ const generator = require('./rosidl_gen/index.js');
 const loader = require('./lib/interface_loader.js');
 const logging = require('./lib/logging.js');
 const Node = require('./lib/node.js');
+const NodeOptions = require('./lib/node_options.js');
+const Parameters = require('./lib/parameter.js');
 const path = require('path');
 const QoS = require('./lib/qos.js');
 const rclnodejs = require('bindings')('rclnodejs');
@@ -73,6 +75,9 @@ let rcl = {
   _initialized: false,
   _nodes: [],
 
+  /** {@link Context} class */
+  Context: Context,
+
   /** {@link QoS} class */
   QoS: QoS,
 
@@ -97,28 +102,41 @@ let rcl = {
   /** {@link Duration} class */
   Duration: Duration,
 
+  /** {@link NodeOptions} class */
+  NodeOptions: NodeOptions,
+
+  /** {@link Parameters} */
+  Parameters: Parameters,
+
   /**
    * Create a node.
    * @param {string} nodeName - The name used to register in ROS.
    * @param {string} namespace - The namespace used in ROS, default is an empty string.
    * @param {Context} context - The context, default is Context.defaultContext().
+   * @param {NodeOptions} options - The options to configure the new node behavior.
    * @return {Node} The instance of Node.
    */
-  createNode(nodeName, namespace = '', context = Context.defaultContext()) {
+  createNode(
+    nodeName,
+    namespace = '',
+    context = Context.defaultContext(),
+    options = NodeOptions.defaultOptions
+  ) {
     if (typeof nodeName !== 'string' || typeof namespace !== 'string') {
       throw new TypeError('Invalid argument.');
     }
 
     let handle = rclnodejs.createNode(nodeName, namespace, context.handle());
     let node = new rclnodejs.ShadowNode();
+    node.handle = handle;
 
-    node.init(nodeName, namespace);
+    node.init(nodeName, namespace, context, options);
     debug(
       'Finish initializing node, name = %s and namespace = %s.',
       nodeName,
       namespace
     );
-    node.handle = handle;
+
     node.context = context;
     this._nodes.push(node);
     return node;
@@ -127,10 +145,19 @@ let rcl = {
   /**
    * Init the module.
    * @param {Context} context - The context, default is Context.defaultContext().
+   * @param {string[]} argv - Process commandline arguments.
    * @return {Promise<undefined>} A Promise.
    */
-  init(context = Context.defaultContext()) {
+  init(context = Context.defaultContext(), argv = process.argv) {
     return new Promise((resolve, reject) => {
+      // check argv for correct value and state
+      if (!Array.isArray(argv)) {
+        throw new TypeError('argv must be an array.');
+      }
+      if (argv.reduce((hasNull, arg) => typeof arg !== 'string', false)) {
+        throw new TypeError('argv elements must not be null');
+      }
+
       let that = this;
       if (!this._initialized) {
         getCurrentGeneratorVersion()
@@ -150,7 +177,7 @@ let rcl = {
               .generateAll(forced)
               .then(() => {
                 this._context = context;
-                rclnodejs.init(context.handle());
+                rclnodejs.init(context.handle(), argv);
                 this._initialized = true;
                 resolve();
               })