rclnodejs v2.3.0 (2026-10-13)

Web Actions

Web actions now support WebSocket and HTTP/SSE, with ROS-derived TypeScript types and OpenAPI schemas (#1586, #1593, #1598).

With a running /fibonacci action server exposed on HTTP port 9001:

import { connect } from 'rclnodejs/web';

const ros = await connect({ http: 'http://localhost:9001' });
try {
  const goal = await ros.action(
    '/fibonacci',
    { order: 5 },
    { onFeedback: (feedback) => console.log(feedback.sequence) }
  );
  console.log(await goal.result, goal.status);
} finally {
  await ros.close();
}

• HTTP actions stream via POST/fetch; explicit { http, ws } uses WS.
• Check goal.status even when goal.result resolves. Request/stream errors reject; reconnect never resubmits goals.

Try the JavaScript and TypeScript demos (#1614).

Web capabilities at a glance

All operations are allow-listed; topic and service support predates 2.3.0:

ROS 2 operation	WebSocket	HTTP / SSE
Publish topic messages	Yes	HTTP POST
Subscribe to topics	Yes	HTTP GET + SSE (opt-in)
Call services	Yes	HTTP POST
Send action goals, receive feedback/results (new)	Yes	HTTP POST + SSE
Request cancellation of an action goal (new)	Yes; server may reject	Not supported

• SDK subscriptions use WS. Direct HTTP topic SSE requires --http-sse (or http.sse: true); HTTP actions do not.
• Service/action handlers run on the ROS side. Disconnecting does not cancel the ROS goal.

Other Improvements

• Timer.clock exposes the configured timer clock (#1599).
• Two-parameter raw callbacks now receive MessageInfo; Buffer-only callbacks are unchanged (#1618).

Thank You

Thanks to KR Ravindra (@KR-Ravindra), Anupam Mediratta (@anupamme), and Matthew Kotara (@Matt95) for their contributions.

Full Changelog: 2.2.0...2.3.0