Generate missing messages at runtime #1257
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Pull Request Overview
This PR implements runtime message generation capabilities for rclnodejs, allowing custom ROS2 message types to be dynamically discovered, built, and loaded during execution rather than requiring pre-generation. This addresses issue #1257 by adding automatic discovery and synchronous generation of missing message interfaces.
- Adds runtime message discovery and generation functionality to the interface loader
- Implements synchronous message generation using worker processes to avoid blocking the main thread
- Includes comprehensive test infrastructure with a custom message package for validation
Reviewed Changes
Copilot reviewed 9 out of 9 changed files in this pull request and generated 3 comments.
Show a summary per file
| File | Description |
|---|---|
test/test-rosidl-message-generator.js |
Adds test case for runtime message generation with custom test package setup |
test/custom_msg_test/ |
Complete ROS2 package with custom message definitions for testing runtime generation |
rosidl_gen/index.js |
Adds synchronous worker-based message generation function and exports helper utilities |
rosidl_gen/generate_worker.js |
New worker script for performing message generation in separate process |
lib/interface_loader.js |
Implements runtime message discovery and generation when interfaces are not found |
README.md |
Updates documentation to indicate manual message generation is no longer required |
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| const idlPath = path.join(generatedRoot, 'share'); | ||
| const useIDL = !!process.argv.find((arg) => arg === '--idl'); | ||
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| // Get target path from environment variable instead of workerData |
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This comment references 'workerData' but the code uses child_process.spawnSync, not worker_threads. The comment should be updated to reflect the actual implementation using environment variables and spawn processes.
| // Get target path from environment variable instead of workerData | |
| // Get target path from the WORKER_TARGET_PATH environment variable |
lib/interface_loader.js
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| // We are going to ignore the path ROS2 installed. | ||
| if (pkgPath.includes('ros2-linux')) { | ||
| continue; | ||
| } |
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The hardcoded check for 'ros2-linux' is platform-specific and may not work on other operating systems or ROS2 installation methods. Consider using a more robust method to identify system ROS2 installations or make this configurable.
| } | ||
| } catch (err) { | ||
| // Skip directories we can't read | ||
| console.error('Error reading directory:', dir, err.message); |
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This error message is logged to console.error but doesn't provide enough context about what operation was being performed. Consider using a more descriptive message like 'Failed to read directory during message discovery:' or use a proper logging mechanism.
| console.error('Error reading directory:', dir, err.message); | |
| console.error( | |
| `Failed to read directory during message discovery for package "${packageName}", type "${type}", message "${messageName}". Directory: ${dir}. Error: ${err.message}` | |
| ); |
This PR implements runtime message generation capabilities for rclnodejs, allowing custom ROS2 message types to be dynamically discovered, built, and loaded during execution rather than requiring pre-generation. - Adds runtime message discovery and generation functionality to the interface loader - Implements synchronous message generation using worker processes to avoid blocking the main thread - Includes comprehensive test infrastructure with a custom message package for validation Fix: #1257
2 participants
This PR implements runtime message generation capabilities for rclnodejs, allowing custom ROS2 message types to be dynamically discovered, built, and loaded during execution rather than requiring pre-generation.
Fix: #1257