Merge remote-tracking branch 'origin/develop' into feat/expose-urdf-joint-axis

Author: EzraBrooks

.gitattributes

@@ -0,0 +1,99 @@
+# Common settings that generally should always be used with your language specific settings
+# Sourced from https://github.com/gitattributes/gitattributes/blob/master/Common.gitattributes
+
+# Auto detect text files and perform LF normalization
+*          text=auto
+
+#
+# The above will handle all files NOT found below
+#
+
+# Documents
+*.bibtex   text diff=bibtex
+*.doc      diff=astextplain
+*.DOC      diff=astextplain
+*.docx     diff=astextplain
+*.DOCX     diff=astextplain
+*.dot      diff=astextplain
+*.DOT      diff=astextplain
+*.pdf      diff=astextplain
+*.PDF      diff=astextplain
+*.rtf      diff=astextplain
+*.RTF      diff=astextplain
+*.md       text diff=markdown
+*.mdx      text diff=markdown
+*.tex      text diff=tex
+*.adoc     text
+*.textile  text
+*.mustache text
+*.csv      text eol=crlf
+*.tab      text
+*.tsv      text
+*.txt      text
+*.sql      text
+*.epub     diff=astextplain
+
+# Graphics
+*.png      binary
+*.jpg      binary
+*.jpeg     binary
+*.gif      binary
+*.tif      binary
+*.tiff     binary
+*.ico      binary
+# SVG treated as text by default.
+*.svg      text
+# If you want to treat it as binary,
+# use the following line instead.
+# *.svg    binary
+*.eps      binary
+
+# Scripts
+*.bash     text eol=lf
+*.fish     text eol=lf
+*.ksh      text eol=lf
+*.sh       text eol=lf
+*.zsh      text eol=lf
+# These are explicitly windows files and should use crlf
+*.bat      text eol=crlf
+*.cmd      text eol=crlf
+*.ps1      text eol=crlf
+
+# Serialisation
+*.json     text
+*.toml     text
+*.xml      text
+*.yaml     text
+*.yml      text
+
+# Archives
+*.7z       binary
+*.bz       binary
+*.bz2      binary
+*.bzip2    binary
+*.gz       binary
+*.lz       binary
+*.lzma     binary
+*.rar      binary
+*.tar      binary
+*.taz      binary
+*.tbz      binary
+*.tbz2     binary
+*.tgz      binary
+*.tlz      binary
+*.txz      binary
+*.xz       binary
+*.Z        binary
+*.zip      binary
+*.zst      binary
+
+# Text files where line endings should be preserved
+*.patch    -text
+
+#
+# Exclude files from exporting
+#
+
+.gitattributes export-ignore
+.gitignore     export-ignore
+.gitkeep       export-ignore

.github/dependabot.yml

@@ -7,6 +7,12 @@ updates:
     ignore:
       - dependency-name: "*"
         update-types: ["version-update:semver-patch"]
+    groups:
+      eslint-and-eslint-plugins:
+        patterns:
+          - "*eslint*"
+          - "globals"
+
   - package-ecosystem: "github-actions"
     directory: "/"
     schedule:

.github/workflows/main.yml

@@ -1,6 +1,10 @@
 name: CI
 
-on: [push, pull_request]
+on:
+  pull_request:
+  push:
+    branches:
+      - develop
 
 defaults:
   run:
@@ -9,41 +13,31 @@ defaults:
 jobs:
   ci:
     name: ${{ matrix.ros_distro }} (node ${{ matrix.node_version }})
-    if: ${{ github.actor != 'RWT-bot' }}
     runs-on: ubuntu-latest
-    container:
-      image: ros:${{ matrix.ros_distro }}-ros-core
-      options: --cap-add=SYS_ADMIN
     strategy:
       fail-fast: false
       matrix:
-        ros_distro: [noetic]
+        ros_distro:
+          - noetic
+          - humble
+          - jazzy
+          - kilted
         node_version: [20, 22, 24]
     env:
       ROS_DISTRO: ${{ matrix.ros_distro }}
     steps:
-      - name: Install git in container
-        run: |
-          apt-get update
-          apt-get install -q -y git
-      - name: Set git safe directory
-        run: |
-          git config --global safe.directory '*'
       - uses: actions/checkout@v5
-        env:
-          TOKEN: "${{ github.event_name == 'push' && endsWith(github.ref, 'develop') && matrix.ros_distro == 'noetic' && secrets.RWT_BOT_PAT || github.token }}"
-        with:
-          token: ${{ env.TOKEN }}
+
       - uses: actions/setup-node@v6
         with:
           cache: npm
           node-version: ${{ matrix.node_version }}
-      - name: Own /github/home and PWD
-        run: |
-          chown -hR 1001:121 /github/home .
-      - name: Install apt dependencies
-        run: |
-          apt-get install -q -y libasound2 libnss3 ros-$ROS_DISTRO-rosbridge-server ros-$ROS_DISTRO-tf2-web-republisher ros-$ROS_DISTRO-common-tutorials ros-$ROS_DISTRO-rospy-tutorials ros-$ROS_DISTRO-actionlib-tutorials
-      - name: Tests
-        run: |
-          bash -c "source /opt/ros/$ROS_DISTRO/setup.bash && bash test/build.bash"
+
+      - name: Install Node.js dependencies
+        run: npm ci
+
+      - name: Build JavaScript library
+        run: npm run build
+
+      - name: Run tests
+        run: npm test

Dockerfile

@@ -0,0 +1,20 @@
+ARG ROS_DISTRO=noetic
+FROM ros:${ROS_DISTRO}-ros-base
+
+# Copy package.xml and install ROS dependencies
+COPY package.xml /workspace/
+WORKDIR /workspace
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt/lists,sharing=locked \
+    apt-get update && \
+    rosdep update --include-eol-distros && \
+    rosdep install --from-paths . --ignore-src -y
+
+# Copy ROS launch files and test setup
+COPY test/examples/ /workspace/test/examples/
+
+# Expose rosbridge websocket port
+EXPOSE 9090
+
+# Default command runs the ROS backend for testing
+CMD ["bash", "-c", "source /opt/ros/$ROS_DISTRO/setup.bash && bash /workspace/test/examples/setup_examples.bash"]

README.md

@@ -52,9 +52,28 @@ npm install
 
 Depending on your build environment.
 
-## Build
+## Development
 
-Checkout [CONTRIBUTING.md](CONTRIBUTING.md) for details on building.
+roslibjs tries to keep the development process simple by storing all relevant tasks as scripts in the package.json file.
+Some useful ones are as follows:
+
+### Building
+
+```bash
+npm run build
+```
+
+### Testing
+
+```bash
+npm run test
+```
+
+### Linting
+
+```bash
+npm run lint
+```
 
 ## License
 

eslint.config.js

@@ -0,0 +1,63 @@
+import { defineConfig } from "eslint/config";
+import eslint from "@eslint/js";
+import tseslint from "typescript-eslint";
+import globals from "globals";
+import jsdoc from "eslint-plugin-jsdoc";
+import prettier from "eslint-plugin-prettier";
+
+export default defineConfig(
+  eslint.configs.recommended,
+  {
+    // Linting rules for TS files, should be combined with the base config when migration is complete
+    files: ["**/*.{js,jsx,ts,tsx,cjs}"],
+    extends: [
+      ...tseslint.configs.strictTypeChecked,
+      ...tseslint.configs.stylisticTypeChecked,
+    ],
+    languageOptions: {
+      parser: tseslint.parser,
+      parserOptions: {
+        projectService: true,
+      },
+    },
+    plugins: {
+      prettier,
+    },
+    rules: {
+      "prettier/prettier": [2, { endOfLine: "auto" }],
+      // Disabled to allow namespaced ROS message types since that's how we think about message types in ROS
+      "@typescript-eslint/no-namespace": 0,
+      // Plenty of APIs (like mocking APIs in Vitest) require empty functions to be declared.
+      "@typescript-eslint/no-empty-function": 0,
+      "prefer-template": 2,
+    },
+  },
+  {
+    languageOptions: {
+      globals: {
+        ...globals.es2020,
+        ...globals.browser,
+        ...globals.node,
+        bson: true,
+      },
+      parserOptions: {
+        ecmaFeatures: {
+          jsx: true,
+        },
+      },
+    },
+  },
+  {
+    files: ["**/*.{ts,tsx}"],
+    plugins: {
+      jsdoc,
+    },
+    rules: {
+      // Redundant in typescript files
+      "jsdoc/no-types": "error",
+    },
+  },
+  {
+    ignores: ["dist"],
+  },
+);

eslint.config.ts

@@ -41,7 +41,7 @@
     rotation : q2
   });
   p.applyTransform(tf);
-  console.log(p);
+  console.log(tf);
 </script>
 </head>