rethinkrobotics-opensource / actionlib_nodejs Goto Github PK

How should client libraries and actionlib_nodejs interact?

• client libraries depend on actionlib_nodejs, configure it on their own, and expose actions
• users configure actionlib_nodejs with the client library they're using
• separate repositories for each client implementation

Dear @chris-smith and @IanTheEngineer ,

As ROS community has released ROS2 Ardent Apalone and keeps a swift iteration of it, I think it is the time we should add more features into it and promote the web solution in ROS2 ecosystem.

In the design document of ROS2, it mentioned that

ROS 2.0 could either implement services and actions on top of publish-subscribe (this is more feasible in DDS because of their reliable publish-subscribe QoS setting) or it could use the DDS RPC specification once it is finished for services and then build actions on top, again like it is in ROS 1.x. Either way actions will be a first class citizen in the ROS 2.0 API and it may be the case that services just become a degenerate case of actions.

The actionlib_nodejs has implemented the functionality of actions on top of rosnodejs in JavaScript language, and rclnodejs is a Node.js client for ROS2 based on rcl library. I think we could collaborate together to integrate the current actionlib module into ROS2 and achieve the same functions in ROS2 as ROS1.x does. We could be the first one who implements this feature by JavaScript in ROS2:smile:

So I'd like to submit a task that begins to migrate the current actionlib to support ROS2 and track it through this thread.

Yours sincerely!
Minggang