feat: add structured error handling with class error hierarchy

CONTRIBUTORS.md

@@ -42,6 +42,7 @@
   - JSON safe serialization improvements
   - Promise-based service calls implementation
   - Add ParameterClient for external parameter access
+  - Add structured error handling with class error hierarchy
 
 - **[Martins Mozeiko](https://github.com/martins-mozeiko)**
   - QoS new/delete fix

example/error-handling/README.md

@@ -0,0 +1,219 @@
+# Error Handling Examples
+
+This directory contains examples demonstrating structured error handling in rclnodejs. These examples showcase the comprehensive error class hierarchy for better debugging and error recovery patterns.
+
+## Overview
+
+rclnodejs provides 21 specialized error classes organized in a clear hierarchy, making it easier to catch, handle, and debug errors with rich context. All errors extend from `RclNodeError` and include properties like `code`, `nodeName`, `entityType`, `entityName`, and detailed context information.
+
+## Error Hierarchy
+
+```
+RclNodeError (base)
+├── ValidationError
+│   ├── TypeValidationError
+│   ├── RangeValidationError
+│   └── NameValidationError
+├── OperationError
+│   ├── TimeoutError
+│   ├── AbortError
+│   ├── ServiceNotFoundError
+│   └── NodeNotFoundError
+├── ParameterError
+│   ├── ParameterNotFoundError
+│   ├── ParameterTypeError
+│   └── ReadOnlyParameterError
+├── TopicError
+│   ├── PublisherError
+│   └── SubscriptionError
+├── ActionError
+│   ├── GoalRejectedError
+│   └── ActionServerNotFoundError
+└── NativeError
+```
+
+## Examples
+
+### 1. Type Validation (`error-handling-example.js` - Example 1)
+
+**Purpose**: Demonstrates catching `TypeValidationError` when providing wrong argument types.
+
+- **Functionality**: Attempts to create node with invalid type, catches and displays error details
+- **Features**: Shows `argumentName`, `expectedType`, and `providedValue` properties
+- **Key Properties**: `error.argumentName`, `error.expectedType`, `error.providedValue`
+
+### 2. Range Validation (`error-handling-example.js` - Example 2)
+
+**Purpose**: Demonstrates catching `RangeValidationError` for out-of-bounds values.
+
+- **Functionality**: Attempts to create rate with invalid frequency (>1000 Hz), catches error
+- **Features**: Shows `validationRule` and `providedValue` for constraint violations
+- **Key Properties**: `error.validationRule`, `error.providedValue`, `error.nodeName`
+
+### 3. Service Errors (`error-handling-example.js` - Example 3)
+
+**Purpose**: Demonstrates `TimeoutError` and `AbortError` handling for service operations.
+
+- **Functionality**: Shows timeout handling and manual request cancellation
+- **Features**: Demonstrates timeout with `sendRequestAsync({ timeout })` and `AbortController`
+- **Key Properties**: `error.timeout`, `error.operationType`, `error.entityName`
+
+### 4. Publisher Errors (`error-handling-example.js` - Example 4)
+
+**Purpose**: Demonstrates catching `PublisherError` during publisher creation.
+
+- **Functionality**: Attempts to create publisher with invalid message type
+- **Features**: Shows error handling for topic creation failures
+- **Key Class**: `PublisherError`
+
+### 5. Subscription Errors (`error-handling-example.js` - Example 5)
+
+**Purpose**: Demonstrates catching `SubscriptionError` during subscription creation.
+
+- **Functionality**: Attempts to create subscription with invalid message type
+- **Features**: Shows error handling for subscription creation failures
+- **Key Class**: `SubscriptionError`
+
+### 6. Parameter Errors (`error-handling-example.js` - Example 6)
+
+**Purpose**: Demonstrates `ParameterTypeError` for parameter type mismatches.
+
+- **Functionality**: Creates parameter with wrong value type, catches type error
+- **Features**: Shows parameter validation and type checking
+- **Key Class**: `ParameterTypeError`
+
+### 7. Name Validation (`error-handling-example.js` - Example 7)
+
+**Purpose**: Demonstrates `NameValidationError` for invalid ROS names.
+
+- **Functionality**: Validates topic name with invalid characters
+- **Features**: Shows `invalidIndex` property pointing to error location
+- **Key Properties**: `error.invalidIndex`, `error.message`
+
+### 8. Error Recovery (`error-handling-example.js` - Example 8)
+
+**Purpose**: Demonstrates retry logic with structured error handling.
+
+- **Functionality**: Implements retry pattern with different handling for timeout vs abort
+- **Features**: Shows differentiation between recoverable and non-recoverable errors
+- **Pattern**: Retry on `TimeoutError`, abort on `AbortError` or other errors
+
+### 9. Error Serialization (`error-handling-example.js` - Example 9)
+
+**Purpose**: Demonstrates using `toJSON()` for logging and debugging.
+
+- **Functionality**: Serializes error to JSON for structured logging
+- **Features**: Shows `toJSON()` method producing complete error information
+- **Method**: `error.toJSON()`
+
+### 10. Generic Error Handler (`error-handling-example.js` - Example 10)
+
+**Purpose**: Demonstrates reusable error handler for all rclnodejs errors.
+
+- **Functionality**: Implements `handleRclError()` function for consistent error handling
+- **Features**: Extracts common error properties, handles specific error types
+- **Pattern**: Single function handling all `RclNodeError` subclasses
+
+## How to Run
+
+1. **Prerequisites**: Ensure ROS 2 is installed and sourced
+
+2. **Run All Examples**:
+
+   ```bash
+   node example/error-handling/error-handling-example.js
+   ```
+
+3. **Expected Output**: Demonstrates all 10 error handling patterns with clear success indicators
+
+## Key Concepts Demonstrated
+
+### Error Properties
+
+All `RclNodeError` instances include:
+
+- `name`: Error class name (e.g., `'TypeValidationError'`)
+- `message`: Human-readable error description
+- `code`: Machine-readable error code (e.g., `'INVALID_TYPE'`)
+- `nodeName`: Associated node name (when applicable)
+- `entityType`: Entity type causing error (e.g., `'service'`, `'publisher'`)
+- `entityName`: Specific entity name (e.g., topic/service name)
+- `timestamp`: Error creation timestamp
+
+### Type-Specific Properties
+
+- **TypeValidationError**: `argumentName`, `expectedType`, `providedValue`
+- **RangeValidationError**: `validationRule`, `providedValue`
+- **NameValidationError**: `invalidIndex`
+- **TimeoutError**: `timeout`, `operationType`
+- **ParameterTypeError**: `argumentName`, `expectedType`
+
+### Error Methods
+
+- `toJSON()`: Serialize error to plain object for logging
+- `toString()`: Format error as readable string with context
+
+### Error Handling Patterns
+
+- **Type Guards**: Use `instanceof` to check specific error types
+- **Recovery Logic**: Different handling for recoverable vs non-recoverable errors
+- **Error Chaining**: Support for `cause` property linking related errors
+- **Structured Logging**: Use `toJSON()` for logging systems
+- **Generic Handlers**: Single function handling multiple error types
+
+## Usage Examples
+
+### Basic Error Catching
+
+```javascript
+try {
+  rclnodejs.createNode(123, 'namespace');
+} catch (error) {
+  if (error instanceof rclnodejs.TypeValidationError) {
+    console.log(
+      `Expected ${error.expectedType}, got ${typeof error.providedValue}`
+    );
+  }
+}
+```
+
+### Service Timeout Handling
+
+```javascript
+try {
+  await client.sendRequestAsync(request, { timeout: 5000 });
+} catch (error) {
+  if (error instanceof rclnodejs.TimeoutError) {
+    console.log(`Timeout after ${error.timeout}ms`);
+  } else if (error instanceof rclnodejs.AbortError) {
+    console.log('Request cancelled');
+  }
+}
+```
+
+### Generic Error Handler
+
+```javascript
+function handleRclError(error, operation) {
+  if (!(error instanceof rclnodejs.RclNodeError)) {
+    console.error(`Unexpected error: ${error.message}`);
+    return;
+  }
+
+  const context = [];
+  if (error.nodeName) context.push(`node: ${error.nodeName}`);
+  if (error.entityName)
+    context.push(`${error.entityType}: ${error.entityName}`);
+
+  console.error(`${error.name} in ${operation}: ${error.message}`);
+}
+```
+
+## Notes
+
+- All error classes extend `RclNodeError` for consistent `instanceof` checks
+- Error context properties are populated based on the operation
+- TypeScript definitions provide full type safety for error handling
+- Use `toJSON()` for integration with logging frameworks
+- Error codes are machine-readable constants for programmatic handling
+- Backward compatibility maintained - existing error handling continues to work