Remove Message, ServiceRequest, and ServiceResponse types

examples/node_simple.js

@@ -28,7 +28,7 @@ var cmdVel = new ROSLIB.Topic({
   messageType: 'geometry_msgs/Twist'
 });
 
-var twist = new ROSLIB.Message({
+var twist = {
 linear: {
   x: 0.1,
   y: 0.2,
@@ -39,7 +39,7 @@ angular: {
   y: -0.2,
   z: -0.3
 }
-});
+};
 
 console.log('Publishing cmd_vel');
 cmdVel.publish(twist);

examples/react-example/src/component_examples/example_functions.jsx

@@ -46,11 +46,11 @@ function SendMessage() {
       messageType: 'geometry_msgs/Pose2D'
     })
 
-    const data = new ROSLIB.Message({
-            x: linear.x,
-            y: linear.y,
-            theta: angular.z
-    })
+    const data = {
+      x: linear.x,
+      y: linear.y,
+      theta: angular.z
+    }
 
     // publishes to the queue
     console.log('msg', data)

examples/ros2_simple.html

@@ -49,7 +49,7 @@
 
   // Then we create the payload to be published. The object we pass in to ros.Message matches the
   // fields defined in the geometry_msgs/Twist.msg definition.
-  var twist = new ROSLIB.Message({
+  var twist = {
     linear : {
       x : 0.1,
       y : 0.2,
@@ -60,7 +60,7 @@
       y : -0.2,
       z : -0.3
     }
-  });
+  };
 
   // And finally, publish.
   cmdVel.publish(twist);
@@ -96,10 +96,10 @@
 
   // Then we create a Service Request. The object we pass in to ROSLIB.ServiceRequest matches the
   // fields defined in the rospy_tutorials AddTwoInts.srv file.
-  var request = new ROSLIB.ServiceRequest({
+  var request = {
     a : 1,
     b : 2
-  });
+  };
 
   // Finally, we call the /add_two_ints service and get back the results in the callback. The result
   // is a ROSLIB.ServiceResponse object.

examples/simple.html

@@ -49,7 +49,7 @@
 
   // Then we create the payload to be published. The object we pass in to ros.Message matches the
   // fields defined in the geometry_msgs/Twist.msg definition.
-  var twist = new ROSLIB.Message({
+  var twist = {
     linear : {
       x : 0.1,
       y : 0.2,
@@ -60,7 +60,7 @@
       y : -0.2,
       z : -0.3
     }
-  });
+  };
 
   // And finally, publish.
   cmdVel.publish(twist);
@@ -96,10 +96,10 @@
 
   // Then we create a Service Request. The object we pass in to ROSLIB.ServiceRequest matches the
   // fields defined in the rospy_tutorials AddTwoInts.srv file.
-  var request = new ROSLIB.ServiceRequest({
+  var request = {
     a : 1,
     b : 2
-  });
+  };
 
   // Finally, we call the /add_two_ints service and get back the results in the callback. The result
   // is a ROSLIB.ServiceResponse object.

src/actionlib/ActionClient.js

@@ -128,7 +128,7 @@ export default class ActionClient extends EventEmitter {
    * Cancel all goals associated with this ActionClient.
    */
   cancel() {
-    var cancelMessage = new Message();
+    var cancelMessage = {};
     this.cancelTopic.publish(cancelMessage);
   }
   /**

src/actionlib/Goal.js

@@ -35,7 +35,7 @@ export default class Goal extends EventEmitter {
     // Create a random ID
     this.goalID = 'goal_' + Math.random() + '_' + date.getTime();
     // Fill in the goal message
-    this.goalMessage = new Message({
+    this.goalMessage = {
       goal_id: {
         stamp: {
           secs: 0,
@@ -44,7 +44,7 @@ export default class Goal extends EventEmitter {
         id: this.goalID
       },
       goal: this.goalMessage
-    });
+    };
 
     this.on('status', function (status) {
       that.status = status;
@@ -82,9 +82,9 @@ export default class Goal extends EventEmitter {
    * Cancel the current goal.
    */
   cancel() {
-    var cancelMessage = new Message({
+    var cancelMessage = {
       id: this.goalID
-    });
+    };
     this.actionClient.cancelTopic.publish(cancelMessage);
   }
 }

src/actionlib/SimpleActionServer.js

@@ -4,7 +4,6 @@
  */
 
 import Topic from '../core/Topic.js';
-import Message from '../core/Message.js';
 import Ros from '../core/Ros.js';
 import { EventEmitter } from 'eventemitter3';
 
@@ -65,13 +64,14 @@ export default class SimpleActionServer extends EventEmitter {
     });
 
     // Track the goals and their status in order to publish status...
-    this.statusMessage = new Message({
+    this.statusMessage = {
       header: {
         stamp: { secs: 0, nsecs: 100 },
         frame_id: ''
       },
+      /** @type {{goal_id: any, status: number}[]} */
       status_list: []
-    });
+    };
 
     // needed for handling preemption prompted by a new goal being received
     this.currentGoal = null; // currently tracked goal
@@ -83,10 +83,7 @@ export default class SimpleActionServer extends EventEmitter {
         // needs to happen AFTER rest is set up
         that.emit('cancel');
       } else {
-        // @ts-expect-error -- we need to design a way to handle arbitrary fields in Message types.
-        that.statusMessage.status_list = [
-          { goal_id: goalMessage.goal_id, status: 1 }
-        ];
+        that.statusMessage.status_list = [{ goal_id: goalMessage.goal_id, status: 1 }];
         that.currentGoal = goalMessage;
         that.emit('goal', goalMessage.goal);
       }
@@ -157,9 +154,7 @@ export default class SimpleActionServer extends EventEmitter {
       var nsecs = Math.round(
         1000000000 * (currentTime.getTime() / 1000 - secs)
       );
-      // @ts-expect-error -- we need to design a way to handle arbitrary fields in Message types.
       that.statusMessage.header.stamp.secs = secs;
-      // @ts-expect-error -- we need to design a way to handle arbitrary fields in Message types.
       that.statusMessage.header.stamp.nsecs = nsecs;
       statusPublisher.publish(that.statusMessage);
     }, 500); // publish every 500ms
@@ -170,13 +165,12 @@ export default class SimpleActionServer extends EventEmitter {
    * @param {Object} result - The result to return to the client.
    */
   setSucceeded(result) {
-    var resultMessage = new Message({
+    var resultMessage = {
       status: { goal_id: this.currentGoal.goal_id, status: 3 },
       result: result
-    });
+    };
     this.resultPublisher.publish(resultMessage);
 
-    // @ts-expect-error -- we need to design a way to handle arbitrary fields in Message types.
     this.statusMessage.status_list = [];
     if (this.nextGoal) {
       this.currentGoal = this.nextGoal;
@@ -192,13 +186,12 @@ export default class SimpleActionServer extends EventEmitter {
    * @param {Object} result - The result to return to the client.
    */
   setAborted(result) {
-    var resultMessage = new Message({
+    var resultMessage = {
       status: { goal_id: this.currentGoal.goal_id, status: 4 },
       result: result
-    });
+    };
     this.resultPublisher.publish(resultMessage);
 
-    // @ts-expect-error -- we need to design a way to handle arbitrary fields in Message types.
     this.statusMessage.status_list = [];
     if (this.nextGoal) {
       this.currentGoal = this.nextGoal;
@@ -214,21 +207,20 @@ export default class SimpleActionServer extends EventEmitter {
    * @param {Object} feedback - The feedback to send to the client.
    */
   sendFeedback(feedback) {
-    var feedbackMessage = new Message({
+    var feedbackMessage = {
       status: { goal_id: this.currentGoal.goal_id, status: 1 },
       feedback: feedback
-    });
+    };
     this.feedbackPublisher.publish(feedbackMessage);
   }
   /**
    * Handle case where client requests preemption.
    */
   setPreempted() {
-    // @ts-expect-error -- we need to design a way to handle arbitrary fields in Message types.
     this.statusMessage.status_list = [];
-    var resultMessage = new Message({
+    var resultMessage = {
       status: { goal_id: this.currentGoal.goal_id, status: 2 }
-    });
+    };
     this.resultPublisher.publish(resultMessage);
 
     if (this.nextGoal) {

src/core/Param.js

@@ -4,7 +4,6 @@
  */
 
 import Service from './Service.js';
-import ServiceRequest from './ServiceRequest.js';
 import Ros from '../core/Ros.js';
 
 /**
@@ -41,9 +40,7 @@ export default class Param {
       serviceType: 'rosapi/GetParam'
     });
 
-    var request = new ServiceRequest({
-      name: this.name
-    });
+    var request = {name: this.name};
 
     paramClient.callService(
       request,
@@ -76,10 +73,10 @@ export default class Param {
       serviceType: 'rosapi/SetParam'
     });
 
-    var request = new ServiceRequest({
+    var request = {
       name: this.name,
       value: JSON.stringify(value)
-    });
+    };
 
     paramClient.callService(request, callback, failedCallback);
   }
@@ -96,9 +93,9 @@ export default class Param {
       serviceType: 'rosapi/DeleteParam'
     });
 
-    var request = new ServiceRequest({
+    var request = {
       name: this.name
-    });
+    };
 
     paramClient.callService(request, callback, failedCallback);
   }