tachybridge-roslib-compat

tachybridge-roslib-compat provides a roslib-style API on top of tachybridge-wasm.

Purpose

• Reduce migration cost from existing roslib-style code
• Use tachybridge-wasm internally for topic, service, and native action flows

Install

npm install tachybridge-roslib-compat

Example

import { Ros, Topic, Service, Action, Cli } from "tachybridge-roslib-compat";

const ros = new Ros({ url: "ws://127.0.0.1:9090" });

const topic = new Topic({ ros, name: "/demo/out", messageType: "std_msgs/String" });
topic.subscribe((msg) => console.log(msg));
topic.publish({ text: "hello" });

const service = new Service({ ros, name: "/demo/sum", serviceType: "example/AddTwoInts" });
service.callService({ a: 1, b: 2 }, (res) => console.log(res));

const action = new Action({ ros, name: "/arm/move", actionType: "demo/MoveArm" });
const id = action.sendGoal({ x: 1 }, (result) => console.log(result));
action.cancelGoal(id);

const cli = new Cli({ ros, command: "ros2 node list" });
cli.run((res) => console.log(res.output));

const cliRes = await cli.execute("ros2 node list");
console.log(cliRes.output);

For CBOR binary frames:

const ros = new Ros({ url: "ws://127.0.0.1:9090", codec: "cbor" });

Limits

• Not a full 1:1 implementation of all roslib APIs
• ActionClient/Goal object model is not included
• topic.compression is forwarded to subscribe op (none/png/cbor/cbor-raw)

CLI Wrapping

Use Cli for roslib-style callback usage:

const cli = new Cli({ ros, command: "ros2 node list" });
cli.run(
  (response) => console.log(response.output),
  (error) => console.error(error)
);

Or use promise style:

const response = await cli.execute("ros2 node list");
console.log(response.success, response.return_code, response.output);

Test

npm run test -w tachybridge-roslib-compat