rosidl-parse-action-example.js

// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

'use strict';

const rosInstallPath = process.env.AMENT_PREFIX_PATH;
const packageName = 'test_msgs';
const packagePath = rosInstallPath + '/share/test_msgs/action/Fibonacci.action';
const parser = require('../../rosidl_parser/rosidl_parser.cjs');

parser
  .parseActionFile(packageName, packagePath)
  .then((spec) => {
    console.log(`action name: ${spec.actionName}`);
    console.log(`pkg name: ${spec.pkgName}`);

    console.log('action goal fields includes:');
    spec.goal.fields.forEach((field) => {
      console.log(field);
    });

    console.log('action result fields includes:');
    spec.result.fields.forEach((field) => {
      console.log(field);
    });

    console.log('action feedback fields includes:');
    spec.feedback.fields.forEach((field) => {
      console.log(field);
    });
  })
  .catch((e) => {
    console.log(e);
  });