reduce ci test matrix to only LTS and latest ROS & Nodejs distros

- updated actions: checkout - v3 setup-node - v3 setup-ros - v0.6 reduce node version matrix: 14, 16, 18, 19 reduce ros version matrix: foxy, humble, rolling On windows use explict nodejs version to workaround some silly github environment issue that is not correctly setting up node-gyp. I think this is caused by an environment/action caching of a bad instance. Updated README.md to display the develop branch's compatibility with the LTS and current ROS branches on Linux and Windows.
RobotWebTools · Feb 28, 2023 · d9efef7 · d9efef7
1 parent 0ea952f
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diff --git a/.github/workflows/linux-build-and-test-compatibility.yml b/.github/workflows/linux-build-and-test-compatibility.yml
@@ -9,14 +9,14 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        node-version: [10.X, 12.x, 14.X, 16.X, 17.X]
+        node-version: [14.X, 16.X, 18.X, 19.X]
         ros_distribution:
           - humble
           - rolling
 
     steps:
     - name: Setup ROS2
-      uses: ros-tooling/setup-ros@v0.4
+      uses: ros-tooling/setup-ros@v0.6
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}
 
@@ -26,7 +26,7 @@ jobs:
     - uses: actions/checkout@v3
 
     - name: Setup Node.js ${{ matrix.node-version }}
-      uses: actions/setup-node@v2
+      uses: actions/setup-node@v3
       with:
         node-version: ${{ matrix.node-version }}
 
@@ -36,19 +36,18 @@ jobs:
         npm i
         npm test
 
-  build-foxy-and-galactic: # foxy and galactic distros
+  build-foxy: # foxy distros
     runs-on: ubuntu-20.04
     strategy:
       fail-fast: false
       matrix:
-        node-version: [10.X, 12.x, 14.X, 16.X, 17.X, 18.X, 19.X]
+        node-version: [14.X, 16.11.X, 18.X, 19.X]
         ros_distribution:
           - foxy
-          - galactic
 
     steps:
     - name: Setup ROS2
-      uses: ros-tooling/setup-ros@v0.4
+      uses: ros-tooling/setup-ros@v0.6
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}
 
@@ -58,7 +57,7 @@ jobs:
     - uses: actions/checkout@v3
 
     - name: Setup Node.js ${{ matrix.node-version }}
-      uses: actions/setup-node@v2
+      uses: actions/setup-node@v3
       with:
         node-version: ${{ matrix.node-version }}
 

diff --git a/.github/workflows/linux-build-and-test.yml b/.github/workflows/linux-build-and-test.yml
@@ -26,15 +26,15 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        node-version: [10.X, 12.X, 14.X, 16.11.X, 17.X, 18.X, 19.X]
+        node-version: [14.X, 16.X, 18.X, 19.X]
     steps:
     - name: Setup Node.js ${{ matrix.node-version }}
-      uses: actions/setup-node@v2
+      uses: actions/setup-node@v3
       with:
         node-version: ${{ matrix.node-version }}
 
     - name: Setup ROS2
-      uses: ros-tooling/setup-ros@v0.4
+      uses: ros-tooling/setup-ros@v0.6
       with:
         required-ros-distributions: ${{ needs.identify-ros-distro.outputs.distro }}
 

diff --git a/.github/workflows/windows-build-and-test-compatibility.yml b/.github/workflows/windows-build-and-test-compatibility.yml
@@ -10,20 +10,19 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        node-version: [10.X, 12.X, 14.X, 16.11.X, 17.X, 18.12.X, 19.X]
+        node-version: [14.21.2, 16.19.0, 18.14.2, 19.X]
         ros_distribution:
-          # - foxy
-          - galactic
+          - foxy
           - humble
           - rolling
     steps:
     - name: Setup Node.js ${{ matrix.node-version }}
-      uses: actions/setup-node@v2
+      uses: actions/setup-node@v3
       with:
         node-version: ${{ matrix.node-version }}
 
     - name: Setup ROS2
-      uses: ros-tooling/setup-ros@v0.4
+      uses: ros-tooling/setup-ros@v0.6
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}
 
@@ -45,8 +44,11 @@ jobs:
         call "c:\dev\${{ matrix.ros_distribution }}\ros2-windows\setup.bat"
         npm i
 
+    # On the windows/foxy combination the Eclipse CycloneDDS RMW implementation is used to workaround 
+    # an error when loading the default fastrtps ddl
     - name: Test rclnodejs
       shell: cmd
       run: |
         call "c:\dev\${{ matrix.ros_distribution }}\ros2-windows\setup.bat"
-        npm test
+        cmd /c "if ${{ matrix.ros_distribution }}==foxy (set RMW_IMPLEMENTATION=rmw_cyclonedds_cpp&&npm test)"
+        cmd /c "if NOT ${{ matrix.ros_distribution }}==foxy (npm test)"
diff --git a/.github/workflows/windows-build-and-test.yml b/.github/workflows/windows-build-and-test.yml
@@ -26,15 +26,17 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        node-version: [10.X, 12.X, 14.X, 16.11.X, 17.X, 18.12.0, 19.X]
+        # Explicit node versions are used to workaround an error
+        # where node-gyp fails due to some silly cacheing
+        node-version: [14.21.2, 16.19.0, 18.14.2, 19.X]
     steps:
     - name: Setup Node.js ${{ matrix.node-version }}
-      uses: actions/setup-node@v2
+      uses: actions/setup-node@v3
       with:
         node-version: ${{ matrix.node-version }}
 
     - name: Setup ROS2
-      uses: ros-tooling/setup-ros@v0.4
+      uses: ros-tooling/setup-ros@v0.6
       with:
         required-ros-distributions: ${{ needs.identify-ros-distro.outputs.distro }}
 
@@ -56,8 +58,11 @@ jobs:
         call "c:\dev\${{ needs.identify-ros-distro.outputs.distro }}\ros2-windows\setup.bat"
         npm i
 
+    # On the windows/foxy combination the Eclipse CycloneDDS RMW implementation is used to workaround 
+    # an error when loading the default fastrtps ddl
     - name: Test rclnodejs
       shell: cmd
       run: |
         call "c:\dev\${{ needs.identify-ros-distro.outputs.distro }}\ros2-windows\setup.bat"
-        npm test
+        cmd /c "if ${{ needs.identify-ros-distro.outputs.distro }}==foxy (set RMW_IMPLEMENTATION=rmw_cyclonedds_cpp&&npm test)"
+        cmd /c "if NOT ${{ needs.identify-ros-distro.outputs.distro }}==foxy (npm test)"
diff --git a/README.md b/README.md
@@ -1,18 +1,22 @@
-# rclnodejs - ROS2 Client Library for JavaScript [![npm](https://img.shields.io/npm/v/rclnodejs.svg)](https://www.npmjs.com/package/rclnodejs)[![Coverage Status](https://coveralls.io/repos/github/RobotWebTools/rclnodejs/badge.svg?branch=develop)](https://coveralls.io/github/RobotWebTools/rclnodejs?branch=develop)[![npm](https://img.shields.io/npm/dm/rclnodejs)](https://www.npmjs.com/package/rclnodejs)[![GitHub license](https://img.shields.io/github/license/RobotWebTools/rclnodejs.svg)](https://github.com/RobotWebTools/rclnodejs/blob/develop/LICENSE)[![node](https://img.shields.io/node/v/rclnodejs.svg)](https://nodejs.org/en/download/releases/)[![npm type definitions](https://img.shields.io/npm/types/rclnodejs)](https://www.npmjs.com/package/rclnodejs)[![code style: prettier](https://img.shields.io/badge/code_style-prettier-ff69b4.svg?style=flat-square)](https://github.com/prettier/prettier)
+# rclnodejs - The ROS 2 Client Library for JavaScript
 
-|     **BRANCH**      |                                                                          **Linux**                                                                           |                                                                              **Windows**                                                                              |
-| :-----------------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------: | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
-|       develop       |         ![GitHub Workflow Status](https://img.shields.io/github/workflow/status/RobotWebTools/rclnodejs/rclnodejs%20-%20Linux%20Build%20and%20Test)          |              ![GitHub Workflow Status](https://img.shields.io/github/workflow/status/RobotWebTools/rclnodejs/rclnodejs%20-%20Windows%20Build%20&%20Test)              |
-|  humble-hawksbill   | ![GitHub Workflow Status](https://img.shields.io/github/workflow/status/RobotWebTools/rclnodejs/rclnodejs%20-%20Linux%20Build%20and%20Test/humble-hawksbill) | ![GitHub Workflow Status (branch)](https://img.shields.io/github/workflow/status/RobotWebTools/rclnodejs/rclnodejs%20-%20Windows%20Build%20&%20Test/humble-hawksbill) |
-| galactic-geochelone | ![GitHub Workflow Status](https://img.shields.io/github/workflow/status/RobotWebTools/rclnodejs/rclnodejs%20-%20Linux%20Build%20and%20Compatibility%20Test)  |     ![GitHub Workflow Status ](https://img.shields.io/github/workflow/status/RobotWebTools/rclnodejs/rclnodejs%20-%20Windows%20Build%20&%20Compatibility%20Test)      |
-|    foxy-fitzroy     | ![GitHub Workflow Status](https://img.shields.io/github/workflow/status/RobotWebTools/rclnodejs/rclnodejs%20-%20Linux%20Build%20and%20Compatibility%20Test)  |                                         ![GitHub Workflow Status](https://img.shields.io/badge/Build-Not%20Available-yellow)                                          |
+[![npm](https://img.shields.io/npm/v/rclnodejs.svg)](https://www.npmjs.com/package/rclnodejs)[![Coverage Status](https://coveralls.io/repos/github/RobotWebTools/rclnodejs/badge.svg?branch=develop)](https://coveralls.io/github/RobotWebTools/rclnodejs?branch=develop)[![npm](https://img.shields.io/npm/dm/rclnodejs)](https://www.npmjs.com/package/rclnodejs)[![GitHub license](https://img.shields.io/github/license/RobotWebTools/rclnodejs.svg)](https://github.com/RobotWebTools/rclnodejs/blob/develop/LICENSE)[![node](https://img.shields.io/node/v/rclnodejs.svg)](https://nodejs.org/en/download/releases/)[![npm type definitions](https://img.shields.io/npm/types/rclnodejs)](https://www.npmjs.com/package/rclnodejs)[![code style: prettier](https://img.shields.io/badge/code_style-prettier-ff69b4.svg?style=flat-square)](https://github.com/prettier/prettier)
+
+| **ROS Distro\*** |                                                                           **Linux**                                                                            |                                                                           **Windows**                                                                            |
+| :--------------: | :------------------------------------------------------------------------------------------------------------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------: |
+|     Rolling      | ![GitHub Workflow Status](https://img.shields.io/github/actions/workflow/status/RobotWebTools/rclnodejs/linux-build-and-test-compatibility.yml?branch=develop) | ![GitHub Workflow Status](https://img.shields.io/github/actions/workflow/status/RobotWebTools/rclnodejs/windows-build-and-test-compatibility.yml?branch=develop) |
+| Humble-Hawksbill | ![GitHub Workflow Status](https://img.shields.io/github/actions/workflow/status/RobotWebTools/rclnodejs/linux-build-and-test-compatibility.yml?branch=develop) | ![GitHub Workflow Status](https://img.shields.io/github/actions/workflow/status/RobotWebTools/rclnodejs/windows-build-and-test-compatibility.yml?branch=develop) |
+|   Foxy-Fitzroy   | ![GitHub Workflow Status](https://img.shields.io/github/actions/workflow/status/RobotWebTools/rclnodejs/linux-build-and-test-compatibility.yml?branch=develop) | ![GitHub Workflow Status](https://img.shields.io/github/actions/workflow/status/RobotWebTools/rclnodejs/windows-build-and-test-compatibility.yml?branch=develop) |
+
+\* rclnodejs development and maintenance is limited to the ROS 2 LTS releases and the Rolling development branch
 
 **rclnodejs** is a Node.js client library for the Robot Operating System
-([ROS 2](https://index.ros.org/doc/ros2/)). It provides a JavaScript API
-and tooling for ROS 2 programming. TypeScript declarations, i.e., (\*.d.ts),
-are included to support use in TypeScript projects.
+([ROS 2](https://index.ros.org/doc/ros2/)). It provides tooling and comprehensive
+JavaScript and TypeScript APIs for developing ROS 2 solutions capable of
+interoperating with ROS 2 nodes implemented in other languages such as
+C++ and Python.
 
-Here's an example for how to create a ROS 2 node that publishes a string message in a few lines of JavaScript.
+Here's an example for creating a ROS 2 node that publishes a string message in a few lines of JavaScript.
 
 ```JavaScript
 const rclnodejs = require('rclnodejs');
@@ -63,11 +67,6 @@ To install a specific version of rclnodejs use:
 npm i [email protected]
 ```
 
-|                                                            RCLNODEJS Version                                                            |                                                                                                                                                                     Compatible ROS 2 Release                                                                                                                                                                     |
-| :-------------------------------------------------------------------------------------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
-| [0.21.4 (current)](https://www.npmjs.com/package/rclnodejs/v/0.21.4) ([API](http://robotwebtools.org/rclnodejs/docs/0.21.3/index.html)) | [Humble Hawksbill](https://github.com/ros2/ros2/releases/tag/release-humble-20220523)<br>[Galactic Geochelone](https://github.com/ros2/ros2/releases/tag/release-galactic-20210716)<br>[Foxy Fitzroy](https://github.com/ros2/ros2/releases/tag/release-foxy-20201211)<br>[Eloquent Elusor](https://github.com/ros2/ros2/releases/tag/release-eloquent-20200124) |
-|                                [0.10.3](https://github.com/RobotWebTools/rclnodejs/releases/tag/0.10.3)                                 |                                                                                                                                [Dashing Diademata - Patch 4](https://github.com/ros2/ros2/releases/tag/release-dashing-20191018)                                                                                                                                 |
-
 - **Note:** to install rclnodejs from GitHub: add `"rclnodejs":"RobotWebTools/rclnodejs#<branch>"` to your `package.json` depdendency section.
 
 ## rclnodejs-cli

diff --git a/binding.gyp b/binding.gyp
@@ -82,6 +82,7 @@
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/rosidl_typesupport_interface/ ') + '/include/rosidl_typesupport_interface/')\")",
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/rcl_action/ ') + '/include/rcl_action/')\")",
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/action_msgs/ ') + '/include/action_msgs/')\")",
+                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/service_msgs/ ') + '/include/service_msgs/')\")",
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/unique_identifier_msgs/ ') + '/include/unique_identifier_msgs/')\")",
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/builtin_interfaces/ ') + '/include/builtin_interfaces/')\")",
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/rcl_lifecycle/ ') + '/include/rcl_lifecycle/')\")",
@@ -129,6 +130,7 @@
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/rosidl_typesupport_interface ').replace(/\\\/g, '/') + '/include/rosidl_typesupport_interface')\")",
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/rcl_action ').replace(/\\\/g, '/') + '/include/rcl_action')\")",
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/action_msgs ').replace(/\\\/g, '/') + '/include/action_msgs')\")",
+                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/service_msgs ').replace(/\\\/g, '/') + '/include/service_msgs')\")",
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/unique_identifier_msgs ').replace(/\\\/g, '/') + '/include/unique_identifier_msgs')\")",
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/builtin_interfaces ').replace(/\\\/g, '/') + '/include/builtin_interfaces')\")",
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/rcl_lifecycle ').replace(/\\\/g, '/') + '/include/rcl_lifecycle')\")",