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Build rclnodejs

Get ready for ROS 2

1.Install ROS 2 from binary package.

ROS 2 is a cross-platform system, which covers Linux, macOS and Windows, and the rclnodejs module is developed against the master branch of ROS 2. You can download the latest binary packages from ROS 2 build farm and follow the instructions of Linux/macOS/Windows to setup the environment (If you want to run your apps on a stable release of ROS 2, e.g. crystal-clemmys, please see the section `Running on Stable Release of ROS 2).

2.Build ROS 2 from scratch.

Alternatively, you can build ROS 2 from scratch. Please select the platform you want to work on, then reference the instructions of Linux/macOS/Windows to build ROS 2 (please build with flag --merge-install).

Install Node.js

Notice: rclnodejs should only be used with node versions between 10.23.1 - 19.x. The lowest LTS Node.js we used to verify the unit tests is 10.23.1.

I install Nodejs from either:

  • Node.js official website
  • Node Version Manager (nvm)

Get Code

Open a terminal, and input:

git clone https://github.com/RobotWebTools/rclnodejs.git

Build Module

Before you build the module, you should make sure the ROS2 environments were loaded. You can check if the AMENT_PREFIX_PATH environment variable was set:

  • For Windows: echo %AMENT_PREFIX_PATH% in the command prompt.

  • For Linux and macOS: echo $AMENT_PREFIX_PATH in the terminal.

If the AMENT_PREFIX_PATH is unset, you should load the ROS2 environments:

  • For Windows, open the command prompt and run
  call <path\to\ros2>\install\local_setup.bat
  • For Linux and macOS, open the terminal and run:
  source <path/to/ros2>/install/local_setup.bash

This Node.js module is built by node-gyp, all you have to do is just to run the following command:

npm install

Windows-specific: make sure Python 2.x interpreter is first searched in your PATH before running the command. You can change it temporarily by:

  set PATH=<path\to\python 2.x>;%PATH%

Run Unit Tests

The test suite is implemented using the mocha JavaScript test framework for node.js. Run the unit tests:

npm run test

Windows-specific: the tests requires in a Microsoft Visual Studio Native Tools command prompt, and also make sure Python 3.x interpreter is first searched in your PATH before running te test. You can change it temporarily by:

  set PATH=<path\to\python 3.x>;%PATH%