Finally commit to breaking the module API for 2.0 (#1056)

Author: EzraBrooks

examples/node_simple.ts

@@ -1,7 +1,7 @@
 #!/usr/bin/env node
 
 // Connecting to ROS
-import ROSLIB from "../src/index";
+import * as ROSLIB from "../src/RosLib";
 
 const ros = new ROSLIB.Ros({
   url: "ws://localhost:9090",

package.json

@@ -57,7 +57,7 @@
   },
   "scripts": {
     "build": "vite build",
-    "doc": "typedoc src/index.ts",
+    "doc": "typedoc src/RosLib.ts",
     "lint": "eslint .",
     "test": "vitest",
     "prepublishOnly": "npm run test",

src/RosLib.ts

@@ -4,8 +4,51 @@
  */
 
 /** @description Library version */
-export * from "./index.js";
-import ROSLIB from "./index.js";
+export const REVISION = import.meta.env.VITE_ROSLIBJS_VERSION;
 
-// same as index.js, except add to global namespace for in-browser support (i.e. CDN)
-globalThis.ROSLIB = ROSLIB;
+// Core exports
+export { default as Ros } from "./core/Ros.js";
+export { default as Topic } from "./core/Topic.js";
+export { default as Param } from "./core/Param.js";
+export { default as Service } from "./core/Service.js";
+export { default as Action } from "./core/Action.js";
+
+// ActionLib exports
+export { default as ActionClient } from "./actionlib/ActionClient.js";
+export { default as ActionListener } from "./actionlib/ActionListener.js";
+export { default as Goal } from "./actionlib/Goal.js";
+export { default as SimpleActionServer } from "./actionlib/SimpleActionServer.js";
+
+// Math exports
+export { default as Pose, type IPose } from "./math/Pose.js";
+export { default as Quaternion, type IQuaternion } from "./math/Quaternion.js";
+export { default as Transform, type ITransform } from "./math/Transform.js";
+export { default as Vector3, type IVector3 } from "./math/Vector3.js";
+
+// TF exports
+export { default as TFClient } from "./tf/TFClient.js";
+export { default as ROS2TFClient } from "./tf/ROS2TFClient.js";
+
+// URDF exports
+export { default as UrdfBox } from "./urdf/UrdfBox.js";
+export { default as UrdfColor } from "./urdf/UrdfColor.js";
+export { default as UrdfCylinder } from "./urdf/UrdfCylinder.js";
+export { default as UrdfLink } from "./urdf/UrdfLink.js";
+export { default as UrdfMaterial } from "./urdf/UrdfMaterial.js";
+export { default as UrdfMesh } from "./urdf/UrdfMesh.js";
+export {
+  default as UrdfModel,
+  type UrdfModelOptions,
+} from "./urdf/UrdfModel.js";
+export { default as UrdfSphere } from "./urdf/UrdfSphere.js";
+export {
+  default as UrdfVisual,
+  type UrdfGeometryLike,
+} from "./urdf/UrdfVisual.js";
+
+export {
+  UrdfAttrs,
+  UrdfType,
+  type UrdfDefaultOptions,
+} from "./urdf/UrdfTypes.js";
+export { isElement, parseUrdfOrigin } from "./urdf/UrdfUtils.js";

src/actionlib/index.ts

@@ -4,7 +4,7 @@
  * @author Russell Toris - rctoris@wpi.edu
  */
 
-import { Vector3 } from "../math/index.js";
+import Vector3 from "../math/Vector3.js";
 import { UrdfAttrs, UrdfType, type UrdfDefaultOptions } from "./UrdfTypes.js";
 import type { Optional, Nullable } from "../types/interface-types.js";
 

src/core/index.ts

@@ -4,7 +4,8 @@
  */
 
 import { UrdfAttrs, type UrdfDefaultOptions } from "./UrdfTypes.js";
-import { Pose, Vector3 } from "../math/index.js";
+import Pose from "../math/Pose.js";
+import Vector3 from "../math/Vector3.js";
 import { parseUrdfOrigin } from "./UrdfUtils.js";
 import type { Nullable } from "../types/interface-types.js";