Add namespace support for the new version of Rosbridge_suite

src/core/Param.js

@@ -36,11 +36,11 @@ export default class Param {
   get(callback, failedCallback) {
     var paramClient = new Service({
       ros: this.ros,
-      name: 'rosapi/get_param',
+      name: `${this.ros.namespace}rosapi/get_param`,
       serviceType: 'rosapi/GetParam'
     });
 
-    var request = {name: this.name};
+    var request = { name: this.name };
 
     paramClient.callService(
       request,
@@ -69,7 +69,7 @@ export default class Param {
   set(value, callback, failedCallback) {
     var paramClient = new Service({
       ros: this.ros,
-      name: 'rosapi/set_param',
+      name: `${this.ros.namespace}rosapi/set_param`,
       serviceType: 'rosapi/SetParam'
     });
 
@@ -89,7 +89,7 @@ export default class Param {
   delete(callback, failedCallback) {
     var paramClient = new Service({
       ros: this.ros,
-      name: 'rosapi/delete_param',
+      name: `${this.ros.namespace}rosapi/delete_param`,
       serviceType: 'rosapi/DeleteParam'
     });
 

src/core/Ros.js

@@ -29,19 +29,27 @@ export default class Ros extends EventEmitter {
   idCounter = 0;
   isConnected = false;
   groovyCompatibility = true;
+  namespace = '';
   /**
    * @param {Object} [options]
    * @param {string} [options.url] - The WebSocket URL for rosbridge. Can be specified later with `connect`.
    * @param {boolean} [options.groovyCompatibility=true] - Don't use interfaces that changed after the last groovy release or rosbridge_suite and related tools.
    * @param {'websocket'|RTCPeerConnection} [options.transportLibrary='websocket'] - 'websocket', or an RTCPeerConnection instance controlling how the connection is created in `connect`.
    * @param {Object} [options.transportOptions={}] - The options to use when creating a connection. Currently only used if `transportLibrary` is RTCPeerConnection.
+   * @param {string} [options.namespace = ""] - The namespace to use for internal ROS2 services. Defaults to an empty string. Must be the same as the namespace of rosbridge_suite.
    */
   constructor(options) {
     super();
     options = options || {};
     this.transportLibrary = options.transportLibrary || 'websocket';
     this.transportOptions = options.transportOptions || {};
     this.groovyCompatibility = options.groovyCompatibility ?? true;
+    this.namespace = options.namespace || '';
+
+    // Normalize namespace format: with trailing slash
+    if (this.namespace) {
+      this.namespace = this.namespace.replace(/\/?$/, '/');
+    }
 
     // begin by checking if a URL was given
     if (options.url) {
@@ -180,7 +188,7 @@ export default class Ros extends EventEmitter {
     /** @satisfies {Service<any, any>} */
     var getActionServers = new Service({
       ros: this,
-      name: 'rosapi/action_servers',
+      name: `${this.namespace}rosapi/action_servers`,
       serviceType: 'rosapi/GetActionServers'
     });
 
@@ -220,7 +228,7 @@ export default class Ros extends EventEmitter {
   getTopics(callback, failedCallback) {
     var topicsClient = new Service({
       ros: this,
-      name: 'rosapi/topics',
+      name: `${this.namespace}rosapi/topics`,
       serviceType: 'rosapi/Topics'
     });
 
@@ -259,7 +267,7 @@ export default class Ros extends EventEmitter {
   getTopicsForType(topicType, callback, failedCallback) {
     var topicsForTypeClient = new Service({
       ros: this,
-      name: 'rosapi/topics_for_type',
+      name: `${this.namespace}rosapi/topics_for_type`,
       serviceType: 'rosapi/TopicsForType'
     });
 
@@ -299,7 +307,7 @@ export default class Ros extends EventEmitter {
   getServices(callback, failedCallback) {
     var servicesClient = new Service({
       ros: this,
-      name: 'rosapi/services',
+      name: `${this.namespace}rosapi/services`,
       serviceType: 'rosapi/Services'
     });
 
@@ -338,7 +346,7 @@ export default class Ros extends EventEmitter {
   getServicesForType(serviceType, callback, failedCallback) {
     var servicesForTypeClient = new Service({
       ros: this,
-      name: 'rosapi/services_for_type',
+      name: `${this.namespace}rosapi/services_for_type`,
       serviceType: 'rosapi/ServicesForType'
     });
 
@@ -380,7 +388,7 @@ export default class Ros extends EventEmitter {
   getServiceRequestDetails(type, callback, failedCallback) {
     var serviceTypeClient = new Service({
       ros: this,
-      name: 'rosapi/service_request_details',
+      name: `${this.namespace}rosapi/service_request_details`,
       serviceType: 'rosapi/ServiceRequestDetails'
     });
     var request = {
@@ -422,7 +430,7 @@ export default class Ros extends EventEmitter {
     /** @satisfies {Service<{},{typedefs: string[]}>} */
     var serviceTypeClient = new Service({
       ros: this,
-      name: 'rosapi/service_response_details',
+      name: `${this.namespace}rosapi/service_response_details`,
       serviceType: 'rosapi/ServiceResponseDetails'
     });
     var request = {
@@ -462,7 +470,7 @@ export default class Ros extends EventEmitter {
   getNodes(callback, failedCallback) {
     var nodesClient = new Service({
       ros: this,
-      name: 'rosapi/nodes',
+      name: `${this.namespace}rosapi/nodes`,
       serviceType: 'rosapi/Nodes'
     });
 
@@ -522,7 +530,7 @@ export default class Ros extends EventEmitter {
   getNodeDetails(node, callback, failedCallback) {
     var nodesClient = new Service({
       ros: this,
-      name: 'rosapi/node_details',
+      name: `${this.namespace}rosapi/node_details`,
       serviceType: 'rosapi/NodeDetails'
     });
 
@@ -563,7 +571,7 @@ export default class Ros extends EventEmitter {
   getParams(callback, failedCallback) {
     var paramsClient = new Service({
       ros: this,
-      name: 'rosapi/get_param_names',
+      name: `${this.namespace}rosapi/get_param_names`,
       serviceType: 'rosapi/GetParamNames'
     });
     var request = {};
@@ -601,7 +609,7 @@ export default class Ros extends EventEmitter {
   getTopicType(topic, callback, failedCallback) {
     var topicTypeClient = new Service({
       ros: this,
-      name: 'rosapi/topic_type',
+      name: `${this.namespace}rosapi/topic_type`,
       serviceType: 'rosapi/TopicType'
     });
     var request = {
@@ -642,7 +650,7 @@ export default class Ros extends EventEmitter {
   getServiceType(service, callback, failedCallback) {
     var serviceTypeClient = new Service({
       ros: this,
-      name: 'rosapi/service_type',
+      name: `${this.namespace}rosapi/service_type`,
       serviceType: 'rosapi/ServiceType'
     });
     var request = {
@@ -683,7 +691,7 @@ export default class Ros extends EventEmitter {
   getMessageDetails(message, callback, failedCallback) {
     var messageDetailClient = new Service({
       ros: this,
-      name: 'rosapi/message_details',
+      name: `${this.namespace}rosapi/message_details`,
       serviceType: 'rosapi/MessageDetails'
     });
     var request = {
@@ -775,7 +783,7 @@ export default class Ros extends EventEmitter {
   getTopicsAndRawTypes(callback, failedCallback) {
     var topicsAndRawTypesClient = new Service({
       ros: this,
-      name: 'rosapi/topics_and_raw_types',
+      name: `${this.namespace}rosapi/topics_and_raw_types`,
       serviceType: 'rosapi/TopicsAndRawTypes'
     });
 

test/examples/setup_examples.launch

@@ -1,5 +1,19 @@
 <launch>
-  <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" />
+  <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch">
+    <arg name="port" value="9090" />
+  </include>
+
+  <!-- Second rosbridge instance on different port -->
+  <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch">
+    <arg name="port" value="9091" />
+    <arg name="namespace" value="hello" />
+  </include>
+
+  <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch">
+    <arg name="port" value="9092" />
+    <arg name="namespace" value="hello/world" />
+  </include>
+
   <node name="tf_publisher" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 /world /turtle1 100" />
   <node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher" />
   <node name="fibonacci_server" pkg="actionlib_tutorials" type="fibonacci_server" />

test/namespaces.test.js

@@ -0,0 +1,128 @@
+import { it, describe, expect } from 'vitest';
+import { Ros } from '../';
+
+describe('Namespaces', () => {
+
+    it('Can retrieve a list of topics using a namespace using a trailing slash', async () => {
+
+        const ros = new Ros({
+            url: 'ws://localhost:9091',
+            namespace: 'hello/'
+        });
+
+        const topics = await new Promise((resolve, reject) => {
+            ros.getTopics(resolve, reject);
+        });
+
+        // we expect the topics object to not be empty
+        expect(topics).be.an('object');
+        expect(topics).not.hasLength(0);
+
+    });
+
+    it('Can retrieve a list of topics using a namespace with a leading slash', async () => {
+
+        const ros = new Ros({
+            url: 'ws://localhost:9091',
+            namespace: '/hello/'
+        });
+
+        const topics = await new Promise((resolve, reject) => {
+            ros.getTopics(resolve, reject);
+        });
+
+        expect(topics).be.an('object');
+        expect(topics).not.hasLength(0);
+    });
+
+    it('Can retrieve a list of topics using a namespace with a leading and no trailing slash', async () => {
+
+        const ros = new Ros({
+            url: 'ws://localhost:9091',
+            namespace: '/hello'
+        });
+
+        const topics = await new Promise((resolve, reject) => {
+            ros.getTopics(resolve, reject);
+        });
+
+        expect(topics).be.an('object');
+        expect(topics).not.hasLength(0);
+    })
+
+    it('Can retrieve a list of topics using a nested namespace', async () => {
+
+        const ros = new Ros({
+            url: 'ws://localhost:9092',
+            namespace: 'hello/world/'
+        });
+
+        const topics = await new Promise((resolve, reject) => {
+            ros.getTopics(resolve, reject);
+        });
+
+        expect(topics).be.an('object');
+        expect(topics).not.hasLength(0);
+    });
+
+    it('Can retrieve a list of topics using a nested namespace with a leading slash', async () => {
+
+        const ros = new Ros({
+            url: 'ws://localhost:9092',
+            namespace: '/hello/world/'
+        });
+
+        const topics = await new Promise((resolve, reject) => {
+            ros.getTopics(resolve, reject);
+        });
+
+        expect(topics).be.an('object');
+        expect(topics).not.hasLength(0);
+    });
+
+    it('Can retrieve a list of topics using a nested namespace with a leading and no trailing slash', async () => {
+
+        const ros = new Ros({
+            url: 'ws://localhost:9092',
+            namespace: '/hello/world'
+        });
+
+        const topics = await new Promise((resolve, reject) => {
+            ros.getTopics(resolve, reject);
+        });
+
+        expect(topics).be.an('object');
+        expect(topics).not.hasLength(0);
+    });
+
+
+    it('Can retrieve a list of topics using an empty namespaces', async () => {
+
+        const ros = new Ros({
+            url: 'ws://localhost:9090',
+            namespace: ''
+        });
+
+        const topics = await new Promise((resolve, reject) => {
+            ros.getTopics(resolve, reject);
+        });
+
+        expect(topics).be.an('object');
+        expect(topics).not.hasLength(0);
+    })
+
+    it('Can retrieve a list of topics using an empty namespace, not set in constructor', async () => {
+
+        const ros = new Ros({
+            url: 'ws://localhost:9090'
+        });
+
+        const topics = await new Promise((resolve, reject) => {
+            ros.getTopics(resolve, reject);
+        });
+
+        expect(topics).be.an('object');
+        expect(topics).not.hasLength(0);
+    })
+
+})