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Merged
merged 2 commits into from
Sep 19, 2025
Merged

Add tutorial for type description service #1268

merged 2 commits into from
Sep 19, 2025

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@minggangw minggangw commented Sep 19, 2025 •
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This PR adds a comprehensive tutorial for the Type Description Service feature in rclnodejs. The tutorial provides detailed documentation on how to use the built-in ROS 2 introspection service that allows querying message and service type information from running nodes.

Key changes:

  • Complete tutorial covering Type Description Service functionality, requirements, and usage patterns
  • Multiple practical examples demonstrating basic usage, advanced features, and best practices
  • Comprehensive troubleshooting guide and performance considerations

Fix: #1267

Copilot AI review requested due to automatic review settings September 19, 2025 03:19
Copilot AI reviewed Sep 19, 2025
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Pull Request Overview

This PR adds a comprehensive tutorial for the Type Description Service feature in rclnodejs. The tutorial provides detailed documentation on how to use the built-in ROS 2 introspection service that allows querying message and service type information from running nodes.

Key changes:

  • Complete tutorial covering Type Description Service functionality, requirements, and usage patterns
  • Multiple practical examples demonstrating basic usage, advanced features, and best practices
  • Comprehensive troubleshooting guide and performance considerations

Tip: Customize your code reviews with copilot-instructions.md. Create the file or learn how to get started.

tutorials/type-description-service.md
}

async discoverNodeTypes(nodeName) {
console.log(`\\nDiscovering types for node: ${nodeName}`);
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The escaped newline character should be a literal newline. Replace \\n with \n.

Suggested change
console.log(`\\nDiscovering types for node: ${nodeName}`);
console.log(`\nDiscovering types for node: ${nodeName}`);

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tutorials/type-description-service.md Outdated
processTypeDescription(typeName, response) {
const typeDesc = response.type_description.type_description;

console.log(`\\n=== Type: ${typeName} ===`);
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The escaped newline character should be a literal newline. Replace \\n with \n.

Suggested change
console.log(`\\n=== Type: ${typeName} ===`);
console.log(`\n=== Type: ${typeName} ===`);

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tutorials/type-description-service.md Outdated
}

printSummary() {
console.log(`\\n=== Discovery Summary ===`);
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The escaped newline character should be a literal newline. Replace \\n with \n.

Suggested change
console.log(`\\n=== Discovery Summary ===`);
console.log(`\n=== Discovery Summary ===`);

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tutorials/type-description-service.md Outdated
Comment on lines 721 to 747
let markdown = `# Type Documentation for Node: ${nodeName}\\n\\n`;
markdown += `Generated on: ${new Date().toISOString()}\\n\\n`;

this.documentation.forEach((doc) => {
markdown += `## ${doc.typeName}\\n\\n`;
markdown += `**Topic**: \`${doc.topicName}\`\\n\\n`;

if (doc.description.fields.length > 0) {
markdown += `### Fields\\n\\n`;
markdown += `| Field Name | Type | Default Value |\\n`;
markdown += `|------------|------|---------------|\\n`;

doc.description.fields.forEach((field) => {
const typeStr = this.formatFieldTypeForDoc(field.type);
markdown += `| \`${field.name}\` | ${typeStr} | \`${field.default_value || 'N/A'}\` |\\n`;
});
markdown += `\\n`;
}

if (doc.sources.length > 0) {
markdown += `### Source Definition\\n\\n`;
markdown += `\`\`\`${doc.sources[0].encoding}\\n`;
markdown += doc.sources[0].raw_file_contents;
markdown += `\`\`\`\\n\\n`;
}

markdown += `---\\n\\n`;
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The escaped newline characters should be literal newlines. Replace \\n with \n.

Suggested change
let markdown = `# Type Documentation for Node: ${nodeName}\\n\\n`;
markdown += `Generated on: ${new Date().toISOString()}\\n\\n`;
this.documentation.forEach((doc) => {
markdown += `## ${doc.typeName}\\n\\n`;
markdown += `**Topic**: \`${doc.topicName}\`\\n\\n`;
if (doc.description.fields.length > 0) {
markdown += `### Fields\\n\\n`;
markdown += `| Field Name | Type | Default Value |\\n`;
markdown += `|------------|------|---------------|\\n`;
doc.description.fields.forEach((field) => {
const typeStr = this.formatFieldTypeForDoc(field.type);
markdown += `| \`${field.name}\` | ${typeStr} | \`${field.default_value || 'N/A'}\` |\\n`;
});
markdown += `\\n`;
}
if (doc.sources.length > 0) {
markdown += `### Source Definition\\n\\n`;
markdown += `\`\`\`${doc.sources[0].encoding}\\n`;
markdown += doc.sources[0].raw_file_contents;
markdown += `\`\`\`\\n\\n`;
}
markdown += `---\\n\\n`;
let markdown = `# Type Documentation for Node: ${nodeName}\n\n`;
markdown += `Generated on: ${new Date().toISOString()}\n\n`;
this.documentation.forEach((doc) => {
markdown += `## ${doc.typeName}\n\n`;
markdown += `**Topic**: \`${doc.topicName}\`\n\n`;
if (doc.description.fields.length > 0) {
markdown += `### Fields\n\n`;
markdown += `| Field Name | Type | Default Value |\n`;
markdown += `|------------|------|---------------|\n`;
doc.description.fields.forEach((field) => {
const typeStr = this.formatFieldTypeForDoc(field.type);
markdown += `| \`${field.name}\` | ${typeStr} | \`${field.default_value || 'N/A'}\` |\n`;
});
markdown += `\n`;
}
if (doc.sources.length > 0) {
markdown += `### Source Definition\n\n`;
markdown += `\`\`\`${doc.sources[0].encoding}\n`;
markdown += doc.sources[0].raw_file_contents;
markdown += `\`\`\`\n\n`;
}
markdown += `---\n\n`;

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tutorials/type-description-service.md Outdated
Comment on lines 721 to 747
let markdown = `# Type Documentation for Node: ${nodeName}\\n\\n`;
markdown += `Generated on: ${new Date().toISOString()}\\n\\n`;

this.documentation.forEach((doc) => {
markdown += `## ${doc.typeName}\\n\\n`;
markdown += `**Topic**: \`${doc.topicName}\`\\n\\n`;

if (doc.description.fields.length > 0) {
markdown += `### Fields\\n\\n`;
markdown += `| Field Name | Type | Default Value |\\n`;
markdown += `|------------|------|---------------|\\n`;

doc.description.fields.forEach((field) => {
const typeStr = this.formatFieldTypeForDoc(field.type);
markdown += `| \`${field.name}\` | ${typeStr} | \`${field.default_value || 'N/A'}\` |\\n`;
});
markdown += `\\n`;
}

if (doc.sources.length > 0) {
markdown += `### Source Definition\\n\\n`;
markdown += `\`\`\`${doc.sources[0].encoding}\\n`;
markdown += doc.sources[0].raw_file_contents;
markdown += `\`\`\`\\n\\n`;
}

markdown += `---\\n\\n`;
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The escaped newline characters should be literal newlines. Replace \\n with \n.

Suggested change
let markdown = `# Type Documentation for Node: ${nodeName}\\n\\n`;
markdown += `Generated on: ${new Date().toISOString()}\\n\\n`;
this.documentation.forEach((doc) => {
markdown += `## ${doc.typeName}\\n\\n`;
markdown += `**Topic**: \`${doc.topicName}\`\\n\\n`;
if (doc.description.fields.length > 0) {
markdown += `### Fields\\n\\n`;
markdown += `| Field Name | Type | Default Value |\\n`;
markdown += `|------------|------|---------------|\\n`;
doc.description.fields.forEach((field) => {
const typeStr = this.formatFieldTypeForDoc(field.type);
markdown += `| \`${field.name}\` | ${typeStr} | \`${field.default_value || 'N/A'}\` |\\n`;
});
markdown += `\\n`;
}
if (doc.sources.length > 0) {
markdown += `### Source Definition\\n\\n`;
markdown += `\`\`\`${doc.sources[0].encoding}\\n`;
markdown += doc.sources[0].raw_file_contents;
markdown += `\`\`\`\\n\\n`;
}
markdown += `---\\n\\n`;
let markdown = `# Type Documentation for Node: ${nodeName}\n\n`;
markdown += `Generated on: ${new Date().toISOString()}\n\n`;
this.documentation.forEach((doc) => {
markdown += `## ${doc.typeName}\n\n`;
markdown += `**Topic**: \`${doc.topicName}\`\n\n`;
if (doc.description.fields.length > 0) {
markdown += `### Fields\n\n`;
markdown += `| Field Name | Type | Default Value |\n`;
markdown += `|------------|------|---------------|\n`;
doc.description.fields.forEach((field) => {
const typeStr = this.formatFieldTypeForDoc(field.type);
markdown += `| \`${field.name}\` | ${typeStr} | \`${field.default_value || 'N/A'}\` |\n`;
});
markdown += `\n`;
}
if (doc.sources.length > 0) {
markdown += `### Source Definition\n\n`;
markdown += `\`\`\`${doc.sources[0].encoding}\n`;
markdown += doc.sources[0].raw_file_contents;
markdown += `\`\`\`\n\n`;
}
markdown += `---\n\n`;

Copilot uses AI. Check for mistakes.
tutorials/type-description-service.md Outdated
markdown += `### Source Definition\\n\\n`;
markdown += `\`\`\`${doc.sources[0].encoding}\\n`;
markdown += doc.sources[0].raw_file_contents;
markdown += `\`\`\`\\n\\n`;
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The escaped newline characters should be literal newlines. Replace \\n with \n.

Suggested change
markdown += `\`\`\`\\n\\n`;
markdown += `\`\`\`\n\n`;

Copilot uses AI. Check for mistakes.
tutorials/type-description-service.md Outdated
Comment on lines 721 to 747
let markdown = `# Type Documentation for Node: ${nodeName}\\n\\n`;
markdown += `Generated on: ${new Date().toISOString()}\\n\\n`;

this.documentation.forEach((doc) => {
markdown += `## ${doc.typeName}\\n\\n`;
markdown += `**Topic**: \`${doc.topicName}\`\\n\\n`;

if (doc.description.fields.length > 0) {
markdown += `### Fields\\n\\n`;
markdown += `| Field Name | Type | Default Value |\\n`;
markdown += `|------------|------|---------------|\\n`;

doc.description.fields.forEach((field) => {
const typeStr = this.formatFieldTypeForDoc(field.type);
markdown += `| \`${field.name}\` | ${typeStr} | \`${field.default_value || 'N/A'}\` |\\n`;
});
markdown += `\\n`;
}

if (doc.sources.length > 0) {
markdown += `### Source Definition\\n\\n`;
markdown += `\`\`\`${doc.sources[0].encoding}\\n`;
markdown += doc.sources[0].raw_file_contents;
markdown += `\`\`\`\\n\\n`;
}

markdown += `---\\n\\n`;
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Copilot AI Sep 19, 2025

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The escaped newline characters should be literal newlines. Replace \\n with \n.

Suggested change
let markdown = `# Type Documentation for Node: ${nodeName}\\n\\n`;
markdown += `Generated on: ${new Date().toISOString()}\\n\\n`;
this.documentation.forEach((doc) => {
markdown += `## ${doc.typeName}\\n\\n`;
markdown += `**Topic**: \`${doc.topicName}\`\\n\\n`;
if (doc.description.fields.length > 0) {
markdown += `### Fields\\n\\n`;
markdown += `| Field Name | Type | Default Value |\\n`;
markdown += `|------------|------|---------------|\\n`;
doc.description.fields.forEach((field) => {
const typeStr = this.formatFieldTypeForDoc(field.type);
markdown += `| \`${field.name}\` | ${typeStr} | \`${field.default_value || 'N/A'}\` |\\n`;
});
markdown += `\\n`;
}
if (doc.sources.length > 0) {
markdown += `### Source Definition\\n\\n`;
markdown += `\`\`\`${doc.sources[0].encoding}\\n`;
markdown += doc.sources[0].raw_file_contents;
markdown += `\`\`\`\\n\\n`;
}
markdown += `---\\n\\n`;
let markdown = `# Type Documentation for Node: ${nodeName}
`;
markdown += `Generated on: ${new Date().toISOString()}
`;
this.documentation.forEach((doc) => {
markdown += `## ${doc.typeName}
`;
markdown += `**Topic**: \`${doc.topicName}\`
`;
if (doc.description.fields.length > 0) {
markdown += `### Fields
`;
markdown += `| Field Name | Type | Default Value |
`;
markdown += `|------------|------|---------------|
`;
doc.description.fields.forEach((field) => {
const typeStr = this.formatFieldTypeForDoc(field.type);
markdown += `| \`${field.name}\` | ${typeStr} | \`${field.default_value || 'N/A'}\` |
`;
});
markdown += `
`;
}
if (doc.sources.length > 0) {
markdown += `### Source Definition
`;
markdown += `\`\`\`${doc.sources[0].encoding}
`;
markdown += doc.sources[0].raw_file_contents;
markdown += `\`\`\`
`;
}
markdown += `---
`;

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tutorials/type-description-service.md Outdated
Comment on lines 1011 to 1013
console.log('\\n=== Type Hierarchy ===');
this.typeHierarchy.forEach((typeInfo, typeName) => {
console.log(`\\n${typeName}:`);
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The escaped newline character should be a literal newline. Replace \\n with \n.

Suggested change
console.log('\\n=== Type Hierarchy ===');
this.typeHierarchy.forEach((typeInfo, typeName) => {
console.log(`\\n${typeName}:`);
console.log('\n=== Type Hierarchy ===');
this.typeHierarchy.forEach((typeInfo, typeName) => {
console.log(`\n${typeName}:`);

Copilot uses AI. Check for mistakes.
tutorials/type-description-service.md Outdated
Comment on lines 1011 to 1013
console.log('\\n=== Type Hierarchy ===');
this.typeHierarchy.forEach((typeInfo, typeName) => {
console.log(`\\n${typeName}:`);
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The escaped newline character should be a literal newline. Replace \\n with \n.

Suggested change
console.log('\\n=== Type Hierarchy ===');
this.typeHierarchy.forEach((typeInfo, typeName) => {
console.log(`\\n${typeName}:`);
console.log('\n=== Type Hierarchy ===');
this.typeHierarchy.forEach((typeInfo, typeName) => {
console.log(`\n${typeName}:`);

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tutorials/type-description-service.md Outdated
const minTime = Math.min(...this.queryTimes);
const maxTime = Math.max(...this.queryTimes);

console.log('\\n=== Performance Results ===');
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The escaped newline character should be a literal newline. Replace \\n with \n.

Suggested change
console.log('\\n=== Performance Results ===');
console.log('\n=== Performance Results ===');

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coveralls commented Sep 19, 2025 •
edited
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Coverage Status

coverage: 84.368% (+0.06%) from 84.306%
when pulling e6009b0 on minggangw:fix-1267
into f459eab on RobotWebTools:develop.

@minggangw minggangw merged commit 8aaa068 into RobotWebTools:develop Sep 19, 2025
18 checks passed
minggangw added a commit that referenced this pull request Oct 13, 2025
@minggangw
Add tutorial for type description service (#1268)
4cb053e 
This PR adds a comprehensive tutorial for the Type Description Service feature in rclnodejs. The tutorial provides detailed documentation on how to use the built-in ROS 2 introspection service that allows querying message and service type information from running nodes.

Key changes:
- Complete tutorial covering Type Description Service functionality, requirements, and usage patterns
- Multiple practical examples demonstrating basic usage, advanced features, and best practices
- Comprehensive troubleshooting guide and performance considerations

Fix: #1267
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Add tutorial for type description service

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