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rclnodejs v2.0.0 (2026-05-25)

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@minggangw minggangw released this 25 May 07:45
2.0.0
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First stable release in the 2.x series. Aligned with the ROS 2 Lyrical Luth GA (Ubuntu 26.04).

This release rolls up the 2.0.0-beta.0 baseline (Lyrical support, Node.js 20.20.2 minimum, removal of legacy 1.x compatibility code, and the rosocket WebSocket gateway) and adds the headline new capability for the 2.x line: rclnodejs/web — a typed Browser SDK plus a small capability runtime that lets a web page talk to ROS 2 over a single WebSocket, with the same capabilities also reachable over plain HTTP for curl, Postman, and AI agents.

2.0.0 also folds in the full 1.9.0 feature set — ParameterEventHandler, waitForMessage, timer autostart + TimerInfo, QoS overriding options, pre/post-set parameter callbacks, ClockEvent, Observable subscriptions (RxJS), MessageIntrospector, action-client feedback content filters, and the rest. Anything you had on 1.x is still here; upgrades from 1.9.0 are additive aside from the breaking changes called out below.

📣 Important Notes

  • rclnodejs 2.0.0 supports ROS 2 Lyrical Luth (Ubuntu 26.04, distro id 2605) in addition to Humble, Jazzy, Kilted, and Rolling.
  • Minimum Node.js raised to 20.20.2. Node.js 16.x and 18.x are no longer supported.
  • Linux x64 / arm64 ship N-API prebuilds — one artifact built against Node.js 20.20.2 runs unchanged on every Node.js ≥ 20.20.2, including 24.x and 26.x. Electron prebuilds target Electron 34.x.
  • Internal compatibility shims and unused utilities have been removed (#1479); downstream code depending on undocumented lib/ internals may need updates.
  • rclnodejs/web and rosocket ship side by side as siblings, not layers — they share the monorepo but serve different audiences (typed declarative SDK vs. raw resource-style WebSocket gateway).

✨ Highlights

rclnodejs/web — typed Browser SDK + capability runtime

  • rclnodejs/web capability runtime over WebSocket — declarative runtime.expose({...}) allow-list (#1509)
  • Typed Browser SDK with single-string-generic API over auto-generated MessagesMap / ServicesMap (#1511)
  • HTTP transport for call / publish — POST /capability/call/<name> returns the JSON reply (#1512)
  • rclnodejs-web CLI launcher — declarative web.json config (or --call / --publish / --subscribe flags), zero server code (#1513)
  • WebSocket and HTTP transports default to a shared /capability path; SDK auto-derives sibling URLs (#1515)
  • SDK guide (web/README.md) plus JS-only and TypeScript + Vite demos under demo/web/ (#1514)

Distros, RMW, and runtime

  • Add ROS 2 Lyrical Luth support (#1496)
  • Add explicit LYRICAL distro identifier (2605) (#1488)
  • Add lightweight WebSocket bridge (rosocket) for browser access to ROS 2 (#1495)
  • Add rmw_zenoh_cpp as RMW vendor and update distribution metadata (#1487)
  • Treat unrecognized ROS_DISTRO as a future distro (#1485)
  • Refresh Electron prebuild target and demo apps (#1492)

🛡️ Bug Fixes and Safeguards

  • Fix SIGSEGV on ROS 2 Rolling caused by rosidl sequence ABI change (#1480)
  • Gate C++ standard by ROS distro (#1477)

🔧 Maintenance

  • Raise Node.js minimum to 20.20.2 (#1478)
  • Pump to Node 26.x (#1497)
  • Remove compatibility and custom utility code carried over from 1.x (#1479)
  • Consolidate all demos under demo/ and add rosocket demo (#1503)
  • Refine README and npmjs landing page (#1508)
  • Surface ROS 2 Lyrical and the 2.0.0-beta.0 baseline in docs (#1507)
  • Pump lint-staged and sinon to latest (#1505)
  • Reorganize badges on README (#1483)

🚀 CI, Packaging, and Tooling

  • Run primary CI lanes on Lyrical instead of Jazzy (#1506)
  • Install ROS 2 Lyrical from apt-deb repo instead of dated tarball (#1516)
  • Install test-msgs and mrpt-msgs uniformly across all ROS 2 distros (#1518)
  • Add Lyrical Luth lane to Linux prebuild workflows (#1498)
  • Migrate Rolling build to Ubuntu 26.04 (#1493)
  • Add GitHub Actions workflow to deploy JSDoc to GitHub Pages (#1490)
  • Use npm install in deploy-docs workflow (#1491)
  • Trigger npm-publish on prerelease tags (#1501)

Getting Started with rclnodejs/web

// Browser
import { connect } from 'rclnodejs/web';

const ros = await connect('ws://robot.local:9000/capability');
const reply = await ros.call<'example_interfaces/srv/AddTwoInts'>(
  '/add_two_ints', { a: '2n', b: '40n' }
);
console.log(reply.sum); // '42n'
# Server (no JavaScript needed)
source /opt/ros/lyrical/setup.bash
npx -p rclnodejs rclnodejs-web --port 9000 --http-port 9001 \
  --call /add_two_ints=example_interfaces/srv/AddTwoInts

See the SDK guide and demos.

Full Changelog: 1.9.0...2.0.0

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