Replace ID counter with UUIDs (#1037)

* Replace id counter with UUIDs

* Prefer template string for formatting

Author: EzraBrooks

eslint.config.ts

@@ -29,6 +29,7 @@ export default defineConfig(
       "@typescript-eslint/no-namespace": 0,
       // Plenty of APIs (like mocking APIs in Vitest) require empty functions to be declared.
       "@typescript-eslint/no-empty-function": 0,
+      "prefer-template": 2,
     },
   },
   {

package-lock.json

@@ -45,6 +45,7 @@
     "cbor-js": "^0.1.0",
     "eventemitter3": "^5.0.1",
     "pngparse": "^2.0.0",
+    "uuid": "^13.0.0",
     "ws": "^8.0.0"
   },
   "directories": {

package.json

@@ -86,31 +86,31 @@ export default class ActionClient<
     // create the topics associated with actionlib
     this.feedbackListener = new Topic({
       ros: this.ros,
-      name: this.serverName + "/feedback",
-      messageType: this.actionName + "Feedback",
+      name: `${this.serverName}/feedback`,
+      messageType: `${this.actionName}Feedback`,
     });
 
     this.statusListener = new Topic({
       ros: this.ros,
-      name: this.serverName + "/status",
+      name: `${this.serverName}/status`,
       messageType: "actionlib_msgs/GoalStatusArray",
     });
 
     this.resultListener = new Topic({
       ros: this.ros,
-      name: this.serverName + "/result",
-      messageType: this.actionName + "Result",
+      name: `${this.serverName}/result`,
+      messageType: `${this.actionName}Result`,
     });
 
     this.goalTopic = new Topic({
       ros: this.ros,
-      name: this.serverName + "/goal",
-      messageType: this.actionName + "Goal",
+      name: `${this.serverName}/goal`,
+      messageType: `${this.actionName}Goal`,
     });
 
     this.cancelTopic = new Topic({
       ros: this.ros,
-      name: this.serverName + "/cancel",
+      name: `${this.serverName}/cancel`,
       messageType: "actionlib_msgs/GoalID",
     });
 

src/actionlib/ActionClient.ts

@@ -55,22 +55,22 @@ export default class ActionListener<
     // create the topics associated with actionlib
     const goalListener = new Topic<TGoal>({
       ros: this.ros,
-      name: this.serverName + "/goal",
-      messageType: this.actionName + "Goal",
+      name: `${this.serverName}/goal`,
+      messageType: `${this.actionName}Goal`,
     });
 
     const feedbackListener = new Topic<{
       status: actionlib_msgs.GoalStatus;
       feedback: TFeedback;
     }>({
       ros: this.ros,
-      name: this.serverName + "/feedback",
-      messageType: this.actionName + "Feedback",
+      name: `${this.serverName}/feedback`,
+      messageType: `${this.actionName}Feedback`,
     });
 
     const statusListener = new Topic<actionlib_msgs.GoalStatusArray>({
       ros: this.ros,
-      name: this.serverName + "/status",
+      name: `${this.serverName}/status`,
       messageType: "actionlib_msgs/GoalStatusArray",
     });
 
@@ -79,8 +79,8 @@ export default class ActionListener<
       result: TResult;
     }>({
       ros: this.ros,
-      name: this.serverName + "/result",
-      messageType: this.actionName + "Result",
+      name: `${this.serverName}/result`,
+      messageType: `${this.actionName}Result`,
     });
 
     goalListener.subscribe((goalMessage) => {

src/actionlib/ActionListener.ts

@@ -6,6 +6,7 @@
 import { EventEmitter } from "eventemitter3";
 import ActionClient from "./ActionClient";
 import { actionlib_msgs } from "../types/actionlib_msgs";
+import { v4 as uuidv4 } from "uuid";
 
 /**
  * An actionlib goal that is associated with an action server.
@@ -28,7 +29,7 @@ export default class Goal<
   result?: TResult = undefined;
   feedback?: TFeedback = undefined;
   // Create a random ID
-  goalID = `goal_${Math.random().toString()}_${new Date().getTime().toString()}`;
+  goalID = `goal_${uuidv4()}`;
   actionClient: ActionClient<TGoal, TFeedback, TResult>;
   goalMessage: { goal: TGoal; goal_id: actionlib_msgs.GoalID };
   /**