Add getServersInfoByService and getClientsInfoByService for node #1335

minggangw · 2025-12-01T10:05:38Z

This PR adds two new methods to the Node class for querying service endpoint information: getClientsInfoByService and getServersInfoByService. These methods mirror the existing getPublishersInfoByTopic and getSubscriptionsInfoByTopic functionality but for ROS services instead of topics.

Adds getClientsInfoByService() and getServersInfoByService() methods to query service endpoint information
Implements C++ bindings using new ROS 2 service endpoint info APIs
Includes TypeScript type definitions and test coverage for the new methods

Fix: #1330

Copilot

Pull request overview

This PR adds two new methods to the Node class for querying service endpoint information: getClientsInfoByService and getServersInfoByService. These methods mirror the existing getPublishersInfoByTopic and getSubscriptionsInfoByTopic functionality but for ROS services instead of topics.

Adds getClientsInfoByService() and getServersInfoByService() methods to query service endpoint information
Implements C++ bindings using new ROS 2 service endpoint info APIs
Includes TypeScript type definitions and test coverage for the new methods

Reviewed changes

Copilot reviewed 6 out of 7 changed files in this pull request and generated 6 comments.

Show a summary per file

File	Description
types/node.d.ts	Adds TypeScript type definitions for the two new service info query methods
test/types/index.test-d.ts	Adds type tests for the new methods
test/test-graph.js	Adds integration tests for querying clients and servers info by service name
src/rcl_utilities.h	Declares the new `ConvertToJSServiceEndpointInfoList` conversion function
src/rcl_utilities.cpp	Implements conversion from RMW service endpoint info structures to JavaScript objects
src/rcl_graph_bindings.cpp	Implements C++ bindings for the service info query functions and exports them
lib/node.js	Implements the JavaScript API methods with validation and version checking

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Copilot · 2025-12-01T10:10:41Z

src/rcl_graph_bindings.cpp

+Napi::Value GetInfoByService(
+    Napi::Env env, rcl_node_t* node, const char* service_name, bool no_mangle,
+    const char* type, rcl_get_info_by_service_func_t rcl_get_info_by_service) {
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  rcl_service_endpoint_info_array_t info_array =
+      rcl_get_zero_initialized_service_endpoint_info_array();
+
+  RCPPUTILS_SCOPE_EXIT({
+    rcl_ret_t fini_ret =
+        rcl_service_endpoint_info_array_fini(&info_array, &allocator);
+    if (RCL_RET_OK != fini_ret) {
+      Napi::Error::New(env, rcl_get_error_string().str)
+          .ThrowAsJavaScriptException();
+      rcl_reset_error();
+    }
+  });
+
+  rcl_ret_t ret = rcl_get_info_by_service(node, &allocator, service_name,
+                                          no_mangle, &info_array);
+  if (RCL_RET_OK != ret) {
+    if (RCL_RET_UNSUPPORTED == ret) {
+      Napi::Error::New(
+          env, std::string("Failed to get information by service for ") + type +
+                   ": function not supported by RMW_IMPLEMENTATION")
+          .ThrowAsJavaScriptException();
+      return env.Undefined();
+    }
+    Napi::Error::New(
+        env, std::string("Failed to get information by service for ") + type)
+        .ThrowAsJavaScriptException();
+    return env.Undefined();
+  }
+
+  return ConvertToJSServiceEndpointInfoList(env, &info_array);
+}


The GetInfoByService function uses types and functions (e.g., rcl_service_endpoint_info_array_t, rcl_get_zero_initialized_service_endpoint_info_array(), rcl_service_endpoint_info_array_fini()) that only exist in ROS versions > 2405. This entire function should be guarded with #if ROS_VERSION > 2405 and #endif to prevent compilation errors on older ROS versions.

Copilot · 2025-12-01T10:10:41Z

lib/node.js

+   * @returns {Array} - list of clients
+   */
+  getClientsInfoByService(service, noDemangle = false) {
+    if (DistroUtils.getDistroId() < DistroUtils.DistroId.ROLLING) {


The version check is inconsistent with the C++ code. The C++ code uses #if ROS_VERSION > 2405 (greater than JAZZY), which includes KILTED (2505) and ROLLING (5000). However, this JavaScript check < DistroUtils.DistroId.ROLLING only includes ROLLING and excludes KILTED, causing a mismatch.

For KILTED (2505):

C++ code will compile the functions (2505 > 2405 = true)

JavaScript code will return null (2505 < 5000 = true)

The check should be <= DistroUtils.DistroId.JAZZY to match the C++ version check.

Suggested change

if (DistroUtils.getDistroId() < DistroUtils.DistroId.ROLLING) {

if (DistroUtils.getDistroId() <= DistroUtils.DistroId.JAZZY) {

Copilot · 2025-12-01T10:10:42Z

lib/node.js

+   * @returns {Array} - list of servers
+   */
+  getServersInfoByService(service, noDemangle = false) {
+    if (DistroUtils.getDistroId() < DistroUtils.DistroId.ROLLING) {


The version check is inconsistent with the C++ code. The C++ code uses #if ROS_VERSION > 2405 (greater than JAZZY), which includes KILTED (2505) and ROLLING (5000). However, this JavaScript check < DistroUtils.DistroId.ROLLING only includes ROLLING and excludes KILTED, causing a mismatch.

For KILTED (2505):

C++ code will compile the functions (2505 > 2405 = true)

JavaScript code will return null (2505 < 5000 = true)

The check should be <= DistroUtils.DistroId.JAZZY to match the C++ version check.

Copilot · 2025-12-01T10:10:42Z

test/test-graph.js

+      rclnodejs.DistroUtils.getDistroId() <
+      rclnodejs.DistroUtils.DistroId.ROLLING


The version check is inconsistent with the C++ code. The C++ code uses #if ROS_VERSION > 2405 (greater than JAZZY), which includes KILTED (2505) and ROLLING (5000). However, this test skip condition < DistroUtils.DistroId.ROLLING only includes ROLLING and excludes KILTED.

For KILTED (2505):

C++ code will compile the functions (2505 > 2405 = true)

Test will be skipped (2505 < 5000 = true)

The check should be <= DistroUtils.DistroId.JAZZY to match the C++ version check.

Suggested change

rclnodejs.DistroUtils.getDistroId() <

rclnodejs.DistroUtils.DistroId.ROLLING

rclnodejs.DistroUtils.getDistroId() <=

rclnodejs.DistroUtils.DistroId.JAZZY

Copilot · 2025-12-01T10:10:42Z

test/test-graph.js

+      rclnodejs.DistroUtils.getDistroId() <
+      rclnodejs.DistroUtils.DistroId.ROLLING


The version check is inconsistent with the C++ code. The C++ code uses #if ROS_VERSION > 2405 (greater than JAZZY), which includes KILTED (2505) and ROLLING (5000). However, this test skip condition < DistroUtils.DistroId.ROLLING only includes ROLLING and excludes KILTED.

For KILTED (2505):

C++ code will compile the functions (2505 > 2405 = true)

Test will be skipped (2505 < 5000 = true)

The check should be <= DistroUtils.DistroId.JAZZY to match the C++ version check.

Copilot · 2025-12-01T10:10:43Z

src/rcl_graph_bindings.cpp


+typedef rcl_ret_t (*rcl_get_info_by_service_func_t)(
+    const rcl_node_t* node, rcutils_allocator_t* allocator,
+    const char* service_name, bool no_mangle,
+    rcl_service_endpoint_info_array_t* info_array);


The typedef for rcl_get_info_by_service_func_t uses types that only exist in ROS versions > 2405. This typedef should be guarded with #if ROS_VERSION > 2405 to prevent compilation errors on older ROS versions.

Suggested change

typedef rcl_ret_t (*rcl_get_info_by_service_func_t)(

const rcl_node_t* node, rcutils_allocator_t* allocator,

const char* service_name, bool no_mangle,

rcl_service_endpoint_info_array_t* info_array);

#if ROS_VERSION > 2405

typedef rcl_ret_t (*rcl_get_info_by_service_func_t)(

const rcl_node_t* node, rcutils_allocator_t* allocator,

const char* service_name, bool no_mangle,

rcl_service_endpoint_info_array_t* info_array);

#endif

coveralls · 2025-12-02T03:38:11Z

coverage: 82.594% (-0.2%) from 82.751%
when pulling da2995b on minggangw:fix-1330-4
into 21453ac on RobotWebTools:develop.

Copilot

Pull request overview

Copilot reviewed 7 out of 8 changed files in this pull request and generated no new comments.

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Add getServersInfoByService and getClientsInfoByService for node

fe3e866

Copilot AI review requested due to automatic review settings December 1, 2025 10:05

Copilot started reviewing on behalf of minggangw December 1, 2025 10:06 View session

minggangw mentioned this pull request Dec 1, 2025

Missing rcl functions in rclnodejs #1330

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Copilot finished reviewing on behalf of minggangw December 1, 2025 10:08

Copilot AI reviewed Dec 1, 2025

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minggangw added 5 commits December 1, 2025 18:11

Fix compiling erros on ROS2 < rolling

b1f1050

Address comments

74456bd

Address comments

2b5cebb

Address comments

6cc3728

Address comments

da2995b

minggangw requested a review from Copilot December 2, 2025 03:58

Copilot started reviewing on behalf of minggangw December 2, 2025 03:58 View session

Copilot finished reviewing on behalf of minggangw December 2, 2025 04:00

Copilot AI reviewed Dec 2, 2025

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minggangw merged commit 2221b4a into RobotWebTools:develop Dec 2, 2025
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Add getServersInfoByService and getClientsInfoByService for node #1335

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minggangw commented Dec 1, 2025 •

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	if (DistroUtils.getDistroId() < DistroUtils.DistroId.ROLLING) {
	if (DistroUtils.getDistroId() <= DistroUtils.DistroId.JAZZY) {

		rclnodejs.DistroUtils.getDistroId() <
		rclnodejs.DistroUtils.DistroId.ROLLING

Add getServersInfoByService and getClientsInfoByService for node #1335

Add getServersInfoByService and getClientsInfoByService for node #1335

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minggangw commented Dec 1, 2025 •

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