Install rclnodejs which works on the stable release of ROS 2

Fix #114

Author: Minggang Wang

Diff for: Dockerfile

@@ -4,41 +4,31 @@ ENV GIT_USER_NAME mrbuild
 ENV GIT_USER_EMAIL [email protected]
 ENV LANG en_US.UTF-8
 
-RUN apt-get update && apt-get install -y git wget locales python
+RUN apt-get update && apt-get install -y git wget curl locales python
 RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
 
 RUN /bin/bash -c 'echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list' \
 && apt-key adv --keyserver ha.pool.sks-keyservers.net --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA116
 
+RUN apt install -y gnupg2 lsb-release
+RUN curl http://repo.ros2.org/repos.key | apt-key add -
+RUN sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
+
 # Install prerequisites
-RUN  apt update && apt install -y \
-     libopencv-dev \
-     libasio-dev \
-     libeigen3-dev \
-     libtinyxml2.6.2v5 \
-     libtinyxml2-dev \
-     libfreetype6 \
-     libgles2-mesa-dev \
-     libglu1-mesa-dev \
-     libqt5core5a \
-     libqt5gui5 \
-     libqt5opengl5 \
-     libqt5widgets5 \
-     libx11-dev \
-     libxaw7 \
-     libcurl4-openssl-dev \
-     python3-argcomplete \
-     python3-catkin-pkg-modules \
-     python3-empy \
-     python3-pip \
-     python3-pyparsing \
-     python3-setuptools \
-     python3-yaml \
-     python3-colcon-common-extensions \
-     cmake \
-     cppcheck
-
-RUN pip3 install -U setuptools
+RUN export DEBIAN_FRONTEND=noninteractive && apt update && apt install -y \
+  build-essential \
+  cmake \
+  python3-colcon-common-extensions \
+  python3-pip \
+  python-rosdep \
+  python3-vcstool \
+  libpython3-dev \
+  libtinyxml2.6.2v5 \
+  libtinyxml2-dev \
+  cppcheck
+
+RUN rosdep init
+RUN rosdep update
 
 # Configure git
 RUN git config --global user.name $GIT_USER_NAME \
@@ -48,14 +38,14 @@ RUN git config --global user.name $GIT_USER_NAME \
 ENV ROS2_WS=/root
 WORKDIR $ROS2_WS
 
-RUN wget https://ci.ros2.org/view/packaging/job/packaging_xenial_linux/lastSuccessfulBuild/artifact/ws/ros2-package-linux-x86_64.tar.bz2 \
-    && tar xf ros2-package-linux-x86_64.tar.bz2
+RUN wget https://github.com/ros2/ros2/releases/download/release-crystal-20190408/ros2-crystal-20190408-linux-xenial-amd64.tar.bz2 \
+    && tar xf ros2-crystal-20190408-linux-xenial-amd64.tar.bz2
 
 RUN echo "source $ROS2_WS/ros2-linux/local_setup.bash" >> $HOME/.bashrc
 
 # Install nvm, Node.js and node-gyp
-ENV NODE_VERSION v8.11.3
-RUN wget -qO- https://raw.githubusercontent.com/creationix/nvm/v0.33.11/install.sh | bash \
+ENV NODE_VERSION v10.15.3
+RUN wget -qO- https://raw.githubusercontent.com/creationix/nvm/v0.34.0/install.sh | bash \
     && . $HOME/.nvm/nvm.sh \
     && nvm install $NODE_VERSION && nvm alias default $NODE_VERSION
 

Diff for: README.md

@@ -6,6 +6,12 @@
 
 ros2-web-bridge, which leverages the [rclnodejs](https://github.com/RobotWebTools/rclnodejs) client, provides a JSON interface to [ROS 2.0](https://github.com/ros2/ros2/wiki) by adopting the [rosbridge v2 protocol](https://github.com/RobotWebTools/rosbridge_suite/blob/develop/ROSBRIDGE_PROTOCOL.md). The bridge can process commands through JSON tuneled over WebSockets.
 
+## ROS2 support
+
+The ros2-web-bridge **SUPPORTS** the latest ROS 2 stable release by default, please visit the [relase channel](https://github.com/ros2/ros2/releases) to check out the information.
+
+Any one who wants to run on the nightly build of ROS 2, please change the `dependencies` section of [package.json](https://github.com/RobotWebTools/ros2-web-bridge/blob/develop/package.json) file to install other version of [rclnodejs](https://github.com/RobotWebTools/rclnodejs#match-with-ros-20-stable-releases).
+
 ## Supported Clients
 
 A client is a program that communicates with ros2-web-bridge using its JSON API. Clients include:
@@ -16,7 +22,7 @@ A client is a program that communicates with ros2-web-bridge using its JSON API.
 
 1.Prepare for ROS2
 
-Please reference the [wiki](https://github.com/ros2/ros2/wiki/Installation) to install ROS2.
+Please reference the [wiki](https://index.ros.org/doc/ros2/Installation/) to install ROS2.
 
 2.Install `Node.js`
 You can install Node.js:
@@ -70,7 +76,6 @@ opreations | rosbridge v2.0 protocol spec | ros2-web-bridge implementation |
 :------------: |  :------------ |  :------------- |
 publish | If the msg is a subset of the type of the topic, then a warning status message is sent and the unspecified fields are filled in with [defaults](https://github.com/RobotWebTools/rosbridge_suite/blob/develop/ROSBRIDGE_PROTOCOL.md#343-publish--publish-). | If the subset of the msg is unspecified, then an error status message is sent and this message is dropped.
 subscribe | The type of the topic is [optional](https://github.com/RobotWebTools/rosbridge_suite/blob/develop/ROSBRIDGE_PROTOCOL.md#344-subscribe). | The type of the topic must be offered.
-call_service | No requirement of the service [type](https://github.com/RobotWebTools/rosbridge_suite/blob/develop/ROSBRIDGE_PROTOCOL.md#346-call-service). | You have to transfer both the request and the type of service through `args`.
 
 If you use [roslibjs](https://static.robotwebtools.org/roslibjs/current/roslib.js) as the client running in the browser, please reference the code snippet below:
 
@@ -90,27 +95,6 @@ example.subscribe(function(message) {
 });
 ```
 
-* Call a service.
-
-```JavaScript
-let addTwoInts = new ROSLIB.Service({
-  ros : ros,
-  name : '/add_two_ints',
-  serviceType : 'example_interfaces/AddTwoInts'
-});
-
-let request = new ROSLIB.ServiceRequest({
-  a : 1,
-  b : 2
-});
-
-// Encapsulate the request and the type of service into args.
-let args = {request: request, type: 'example_interfaces/AddTwoInts'};
-addTwoInts.callService(args, function(result) {
-  console.log(`Receive result: ${result.sum}`);
-});
-```
-
 ## Contributing
 
 If you want to contribute code to this project, first you need to fork the

Diff for: appveyor.yml

@@ -8,8 +8,8 @@ branches:
 image: Visual Studio 2017
 
 environment:
-  nodejs_version: "8"
-  PYTHON3: "c:\\Python37"
+  nodejs_version: "10"
+  PYTHON3: "c:\\Python37-x64"
   PYTHON2: "c:\\Python27"
 
 clone_folder: c:\proj\ros2-web-bridge
@@ -25,8 +25,8 @@ before_build:
   - appveyor DownloadFile https://github.com/ros2/choco-packages/releases/download/2017-04-04-1/tinyxml-usestl.2.6.2.nupkg
   - appveyor DownloadFile https://github.com/ros2/choco-packages/releases/download/2018-06-12-1/tinyxml2.6.0.0.nupkg
   - choco install -y -s c:\download\ asio eigen tinyxml-usestl tinyxml2
-  - appveyor DownloadFile http://ci.ros2.org/view/packaging/job/packaging_windows/lastSuccessfulBuild/artifact/ws/ros2-package-windows-AMD64.zip
-  - 7z x -y "c:\download\ros2-package-windows-AMD64.zip" -o"c:\" > nul
+  - appveyor DownloadFile https://github.com/ros2/ros2/releases/download/release-crystal-20190408/ros2-crystal-20190408-windows-release-amd64.zip
+  - 7z x -y "c:\download\ros2-crystal-20190408-windows-release-amd64.zip" -o"c:\" > nul
   - setx -m OPENSSL_CONF C:\OpenSSL-Win64\bin\openssl.cfg
   - set PATH=C:\OpenSSL-Win64\bin;%PATH%
   - setx AMENT_PYTHON_EXECUTABLE "c:\Python37"

Diff for: examples/html/client.html

@@ -50,10 +50,8 @@
     b : 2
   });
 
-  var args = {request: request, type: 'example_interfaces/AddTwoInts'};
-
   // Send the request
-  addTwoInts.callService(args, function(result) {
+  addTwoInts.callService(request, function(result) {
     document.getElementById("sum").innerText = result.sum;
     console.log('Result for service call on ' + addTwoInts.name + ': ' + result.sum);
   });

Diff for: lib/bridge.js

@@ -212,10 +212,10 @@ class Bridge extends EventEmitter {
     this._registerOpMap('call_service', (command) => {
       let serviceName = command.service;
       let client =
-        this._resourceProvider.createClient(this._exractServiceType(command.args.type), serviceName);
+        this._resourceProvider.createClient(this._exractServiceType(command.type), serviceName);
 
       if (client) {
-        client.sendRequest(command.args.request, (response) => {
+        client.sendRequest(command.args, (response) => {
           let serviceResponse =
             {op: 'service_response', service: command.service, values: response, id: command.id, result: true};
 

Diff for: package.json

@@ -42,8 +42,8 @@
   },
   "dependencies": {
     "commander": "^2.12.2",
-    "debug": "^3.1.0",
-    "rclnodejs": "^0.x.0",
+    "debug": "^4.1.1",
+    "rclnodejs": "0.9.0",
     "uuid": "^3.1.0",
     "ws": "^6.0.0"
   }

Diff for: test/browser/test-service.html

@@ -36,8 +36,7 @@
         a: 1,
         b: 2
       });
-      var args = {request: request, type: 'example_interfaces/AddTwoInts'};
-      reqService.callService(args, function(result) {
+      reqService.callService(request, function(result) {
       });
 
     }, 'Service.advertise() positive case 1');
@@ -82,8 +81,7 @@
         a: 3,
         b: 4
       });
-      var args = {request: request, type: 'example_interfaces/AddTwoInts'};
-      reqService.callService(args, function(result) {
+      reqService.callService(request, function(result) {
         assert_equals(result.sum, 7);
         t.done();
       });
@@ -141,8 +139,7 @@
         name: '/add_two_ints5',
         serviceType: 'example_interfaces/AddTwoInts'
       });
-      var args = {request: {a: 9, b: 10}, type: 'example_interfaces/AddTwoInts'};
-      reqService.callService(args, function(result) {
+      reqService.callService({a: 9, b: 10}, function(result) {
         assert_equals(result.sum, 19);
         t.done();
       });
@@ -171,8 +168,7 @@
       var request = new ROSLIB.ServiceRequest({
         c: 9, d: 10
       });
-      var args = {request: request, type: 'example_interfaces/AddTwoInts'};
-      reqService.callService(args, function(result) {
+      reqService.callService(request, function(result) {
         assert_unreached('Never go to here as callService() failed.');
       });
       setTimeout(function() {
@@ -211,8 +207,7 @@
         a: 11,
         b: 12
       });
-      var args = {request: request, type: 'example_interfaces/AddTwoInts'};
-      reqService.callService(args, function(result) {
+      reqService.callService(request, function(result) {
         assert_true(result instanceof ROSLIB.ServiceResponse);
         assert_equals(result.sum, 23);
         t.done();

Diff for: test/nodejs/protocol/entry.js

@@ -91,7 +91,7 @@ describe('Rosbridge v2.0 protocol testing', function() {
     require('./test-op-neg.js')();
   });
   describe('service_response operation', function() {
-    require('./test-service-response.js')();
+    require('./test-service-response.js');
   });  
 });
 

Diff for: test/nodejs/protocol/test-call-service.js

@@ -43,7 +43,8 @@ module.exports = function() {
     {
       title: 'call_service positive case 1: full fields',
       callServiceMsg: { op: 'call_service', id: 'call_service_id1', service: 'add_two_ints',
-        args: {request: {a: 1, b: 2}, type: 'example_interfaces/AddTwoInts'},
+        args: {a: 1, b: 2},
+        type: 'example_interfaces/AddTwoInts',
         fragment_size: 1, compression: 'none'
       },
       responseCount: 2,
@@ -53,7 +54,8 @@ module.exports = function() {
     {
       title: 'call_service positive case 2: full fields with full service name',
       callServiceMsg: { op: 'call_service', id: 'call_service_id2', service: '/add_two_ints',
-        args: {request: {a: 1, b: 2}, type: 'example_interfaces/AddTwoInts'},
+        args: {a: 1, b: 2},
+        type: 'example_interfaces/AddTwoInts',
         fragment_size: 1, compression: 'none'
       },
       responseCount: 2,
@@ -63,7 +65,8 @@ module.exports = function() {
     {
       title: 'call_service positive case 3: no id field',
       callServiceMsg: { op: 'call_service', service: 'add_two_ints',
-        args: {request: {a: 3, b: 4}, type: 'example_interfaces/AddTwoInts'},
+        args: {a: 3, b: 4},
+        type: 'example_interfaces/AddTwoInts',
         fragment_size: 1, compression: 'none'
       },
       responseCount: 2,
@@ -73,7 +76,7 @@ module.exports = function() {
     {
       title: 'call_service positive case 4: no fragment_size field',
       callServiceMsg: { op: 'call_service',  id: 'call_service_id4', service: 'add_two_ints',
-        args: {request: {a: 5, b: 6}, type: 'example_interfaces/AddTwoInts'}, compression: 'none'
+        args: {a: 5, b: 6}, type: 'example_interfaces/AddTwoInts', compression: 'none'
       },
       responseCount: 2,
       opStatus: 'none',
@@ -82,7 +85,7 @@ module.exports = function() {
     {
       title: 'call_service positive case 5: no compression field',
       callServiceMsg: { op: 'call_service', id: 'call_service_id5', service: 'add_two_ints',
-        args: {request: {a: 7, b: 8}, type: 'example_interfaces/AddTwoInts'}, fragment_size: 1
+        args: {a: 7, b: 8}, type: 'example_interfaces/AddTwoInts', fragment_size: 1
       },
       responseCount: 2,
       opStatus: 'none',
@@ -91,15 +94,14 @@ module.exports = function() {
     {
       title: 'call_service negative case 1: args without type information',
       callServiceMsg: { op: 'call_service', id: 'call_service_id6', service: 'add_two_ints',
-        args: {request: {a: 9, b: 10}, fragment_size: 1, compression: 'none'}
-      },
+        args: {a: 9, b: 10}, fragment_size: 1, compression: 'none'},
       responseCount: 1,
       opStatus: 'error'
     },
     {
       title: 'call_service negative case 2: unknown service',
       callServiceMsg: { op: 'call_service', id: 'call_service_id7', service: 'add_two_float',
-        args: {request: {a: 11, b: 12}, type: 'example_interfaces/AddTwoInts'},
+        args: {a: 11, b: 12}, type: 'example_interfaces/AddTwoInts',
         fragment_size: 1, compression: 'none'
       },
       responseCount: 1,
@@ -108,7 +110,7 @@ module.exports = function() {
     {
       title: 'call_service field checking: invalid service',
       callServiceMsg: { op: 'call_service', id: 'call_service_id8', service: 42,
-        args: {request: {a: 13, b: 14}, type: 'example_interfaces/AddTwoInts'},
+        args: {a: 13, b: 14}, type: 'example_interfaces/AddTwoInts',
         fragment_size: 1, compression: 'none'
       },
       responseCount: 1,
@@ -136,10 +138,8 @@ module.exports = function() {
 
         if (response.op === 'set_level') {
           assert.deepStrictEqual(response.level, testData.opStatus);
-          if (testData.responseCount === 1) {
-            ws.close();
-            done();
-          }
+          ws.close();
+          done();
         }
         if (testData.expectedResponse && response.op === testData.expectedResponse.op) {
           assert.deepStrictEqual(response.result, testData.expectedResponse.result);