Support creating node with ros args

[minggangw]

Adds support for passing ROS command-line arguments when creating nodes by extending both the native and JavaScript APIs and verifying behavior with new tests.

• Introduced helper functions to marshal JS arrays into C-style argv and detect unparsed ROS args
• Extended the C++ CreateNode binding and the JS Node and createNode wrappers to accept args and a useGlobalArguments flag
• Added TypeScript and JavaScript tests covering normal remapping, global arguments, and invalid-argument error handling

Fix: #1165

[coveralls]

coverage: 84.726% (+0.01%) from 84.716%
when pulling f91d2b9 on minggangw:fix-1165
into 42785df on RobotWebTools:develop.

[Copilot]

Pull Request Overview

Adds support for passing ROS command-line arguments when creating nodes by extending both the native and JavaScript APIs and verifying behavior with new tests.

• Introduced helper functions to marshal JS arrays into C-style argv and detect unparsed ROS args
• Extended the C++ CreateNode binding and the JS Node and createNode wrappers to accept args and a useGlobalArguments flag
• Added TypeScript and JavaScript tests covering normal remapping, global arguments, and invalid-argument error handling

Reviewed Changes

Copilot reviewed 9 out of 9 changed files in this pull request and generated 2 comments.

Show a summary per file

File	Description
test/types/index.test-d.ts	Update TypeScript definitions to include args and useGlobalArguments parameters
test/test-node.js	Add JS tests for node argument parsing, global args, and error cases
src/rcl_utilities.h	Declare AbstractArgsFromNapiArray, FreeArgs, and HasUnparsedROSArgs helpers
src/rcl_utilities.cpp	Implement array-to-argv conversion, freeing logic, and unparsed-args detection
src/rcl_node_bindings.cpp	Parse argument arrays in CreateNode, add scope guards, and wire up use_global_args
src/rcl_context_bindings.cpp	Refactor context init to use helper functions for argv handling
lib/node.js	Update JS Node constructor and _init to accept args and useGlobalArguments
index.js	Update high-level rcl.createNode wrapper signature and docs

Comments suppressed due to low confidence (3)

lib/node.js:87

• The options parameter is never passed through to the native createNode binding, so user-supplied NodeOptions are ignored. Consider including options before args when calling rclnodejs.createNode and updating the C++ binding signature accordingly.

this.handle = rclnodejs.createNode(name, namespace, context.handle, args, useGlobalArguments);

test/types/index.test-d.ts:85

• A test for the default useGlobalArguments behavior (when omitted) would help ensure it actually defaults to true. Consider adding a case that omits the boolean flag.

const nodeWithArgs = rclnodejs.createNode(

src/rcl_node_bindings.cpp:193

• [nitpick] The error message is generic. Including the original RCL error (e.g. via rcl_get_error_string().str) would make troubleshooting argument parsing failures easier.

Napi::Error::New(env, "failed to parse arguments").ThrowAsJavaScriptException();

[Copilot]

Argument indices no longer align with the JS wrapper signature (which also takes options). You should extract options from info[3], then shift jsArgv to info[4] and useGlobalArguments to info[5], with proper type checks and info.Length() validation.

[Copilot]

[nitpick] Consider using a scope exit guard (e.g. RCPPUTILS_SCOPE_EXIT) for FreeArgs so that argv is always freed even if rcl_init or rcl_logging_configure throw an exception before reaching this line.