Raise Node.js Minimum to 20.20.2

Author: minggangw

.github/workflows/linux-arm64-build-and-test.yml

@@ -20,7 +20,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        node-version: [16.X]
+        node-version: [20.20.2]
         architecture: [arm64]
         ros_distribution:
           - humble

README.md

@@ -42,7 +42,7 @@ Choose the path that matches how you plan to use rclnodejs:
 
 ### Prerequisites
 
-- [Node.js](https://nodejs.org/en/) version >= 16.13.0
+- [Node.js](https://nodejs.org/en/) version >= 20.20.2
 - [ROS 2 SDK](https://docs.ros.org/en/jazzy/Installation.html)
 
 Before installing, building, or running rclnodejs, source your ROS 2 environment:
@@ -86,7 +86,7 @@ rclnodejs ships with prebuilt native binaries for common Linux configurations si
 - **Ubuntu 22.04 (Jammy)** - ROS 2 Humble
 - **Ubuntu 24.04 (Noble)** - ROS 2 Jazzy, Kilted
 - **Architectures:** x64, arm64
-- **Node.js:** >= 16.20.2 (N-API compatible)
+- **Node.js:** >= 20.20.2 (N-API compatible)
 
 Installations outside this prebuilt matrix automatically fall back to building from source.
 

benchmark/README.md

@@ -5,7 +5,7 @@ Performance benchmarks for comparing ROS 2 client libraries: C++ (rclcpp), Pytho
 ## Prerequisites
 
 1. **ROS 2**: Install from [ros.org](https://docs.ros.org/en/jazzy/Installation.html)
-2. **Node.js**: v16+ for rclnodejs (from [nodejs.org](https://nodejs.org/))
+2. **Node.js**: v20.20.2+ for rclnodejs (from [nodejs.org](https://nodejs.org/))
 3. **rclnodejs**: Follow [installation guide](https://github.com/RobotWebTools/rclnodejs#installation)
 4. **Build Dependencies**: For C++ benchmarks: `sudo apt install libssl-dev cmake build-essential`
 

docs/BUILDING.md

@@ -13,7 +13,7 @@ Alternatively, you can build ROS 2 from scratch. Please select the platform you
 ### Install `Node.js`
 
 **Notice:**
-`rclnodejs` requires Node.js version >= 16.13.0.
+`rclnodejs` requires Node.js version >= 20.20.2.
 
 I install Nodejs from either:
 

electron_demo/car/README.md

@@ -30,7 +30,7 @@ This demo showcases how to use **rclnodejs** with **Electron** to create an inte
 Before running this demo, ensure you have:
 
 1. **ROS2 installed** (Humble, Jazzy, Kilted, or Rolling)
-2. **Node.js** (version 16 or higher)
+2. **Node.js** (version 20.20.2 or higher)
 3. **rclnodejs built** and working
 
 ### ROS2 Setup
@@ -288,7 +288,6 @@ Extend the joystick commands by modifying the switch statement in `main.js` and
 ### Common Issues
 
 1. **"Failed to initialize ROS2" Error**
-
    - Ensure ROS2 is properly sourced before running npm start
    - Check that rclnodejs is built correctly
 
@@ -301,7 +300,6 @@ Extend the joystick commands by modifying the switch statement in `main.js` and
    ```
 
 3. **Topic Not Appearing**
-
    - Verify ROS2 daemon is running: `ros2 daemon status`
    - Check topic list: `ros2 topic list`
 

electron_demo/manipulator/README.md

@@ -16,7 +16,7 @@ An interactive Electron application demonstrating a two-joint robotic manipulato
 
 ## 📋 Prerequisites
 
-- **Node.js** (>= 16.13.0) - JavaScript runtime
+- **Node.js** (>= 20.20.2) - JavaScript runtime
 - **ROS 2** (Humble, Jazzy, or newer) - Robot Operating System 2
 - **rclnodejs compatible environment** - Linux recommended (tested on Ubuntu/WSL)
 
@@ -81,7 +81,6 @@ npm start
 ### Interactive Controls
 
 - **Joint Sliders**: Use the sliders in the control panel to manually adjust joint angles
-
   - **Joint 1 (Base)**: Rotates the entire arm around the vertical axis (±180°)
   - **Joint 2 (Elbow)**: Bends the upper arm segment (±135°)
 
@@ -105,13 +104,11 @@ npm start
 The demo includes visual indicators to help identify joint movements:
 
 - **🔴 Red Markers**: Joint 1 (Base rotation)
-
   - Red ring around the base joint
   - Red arrow showing rotation direction
   - "Joint1" text label
 
 - **🟢 Green Markers**: Joint 2 (Elbow)
-
   - Green ring around the elbow joint
   - Green arrow showing rotation direction
   - "Joint2" text label
@@ -309,13 +306,11 @@ manipulator/
    ```
 
 2. **Build errors with latest Electron**
-
    - This demo uses Electron 31.7.7 for rclnodejs compatibility
    - Electron 38+ requires C++20, which rclnodejs doesn't support yet
    - The current versions are tested and stable
 
 3. **No ROS2 messages received**
-
    - Check if ROS2 daemon is running: `ros2 daemon start`
    - Verify topic exists: `ros2 topic list`
    - Check message flow: `ros2 topic echo /joint_states`

electron_demo/topics/README.md

@@ -21,7 +21,7 @@ A minimal Electron application demonstrating basic ROS2 topic communication usin
 
 ## 📋 Prerequisites
 
-- **Node.js** (>= 16.13.0) - JavaScript runtime
+- **Node.js** (>= 20.20.2) - JavaScript runtime
 - **ROS 2** (Humble, Jazzy, or newer) - Robot Operating System 2
 - **rclnodejs compatible environment** - Linux recommended (tested on Ubuntu/WSL)
 

package.json

@@ -34,7 +34,7 @@
     "format": "clang-format -i -style=file ./src/*.cpp ./src/*.h && npx --yes prettier --write \"{lib,rosidl_gen,rostsd_gen,rosidl_parser,types,example,test,scripts,benchmark,rostsd_gen}/**/*.{js,md,ts}\" ./*.{js,md,ts}",
     "prepare": "husky",
     "coverage": "cat ./coverage/lcov.info | ./node_modules/coveralls/bin/coveralls.js",
-    "prebuild": "prebuildify --napi --strip --target 16.20.2 --target electron@23.0.0 && node scripts/tag_prebuilds.js"
+    "prebuild": "prebuildify --napi --strip --target 20.20.2 --target electron@23.0.0 && node scripts/tag_prebuilds.js"
   },
   "bin": {
     "generate-ros-messages": "./scripts/generate_messages.js"
@@ -103,6 +103,6 @@
     "directory": "test/types"
   },
   "engines": {
-    "node": ">= 16.13.0"
+    "node": ">= 20.20.2"
   }
 }

scripts/npmjs-readme.md

@@ -20,7 +20,7 @@ This example assumes your ROS 2 environment is already sourced.
 
 ### Prerequisites
 
-- [Node.js](https://nodejs.org/en/) version >= 16.13.0
+- [Node.js](https://nodejs.org/en/) version >= 20.20.2
 - [ROS 2 SDK](https://docs.ros.org/en/jazzy/Installation.html)
 
 Before installing or running rclnodejs, source your ROS 2 environment:
@@ -52,7 +52,7 @@ rclnodejs ships with prebuilt native binaries for common Linux configurations si
 - **Ubuntu 22.04 (Jammy)** - ROS 2 Humble
 - **Ubuntu 24.04 (Noble)** - ROS 2 Jazzy, Kilted
 - **Architectures:** x64, arm64
-- **Node.js:** >= 16.20.2 (N-API compatible)
+- **Node.js:** >= 20.20.2 (N-API compatible)
 
 Installations outside this prebuilt matrix automatically fall back to building from source.
 

tools/jsdoc/tmpl/mainpage.tmpl

@@ -81,7 +81,7 @@ var homepage = this.homepage || {};
             <article class="guide-card" id="guide-installation">
                 <p class="section-kicker">Setup</p>
                 <h3>Installation and environment</h3>
-                <p>Install Node.js 16.13.0 or newer, install a compatible ROS 2 distribution, then source the ROS 2 setup file before using the package.</p>
+                <p>Install Node.js 20.20.2 or newer, install a compatible ROS 2 distribution, then source the ROS 2 setup file before using the package.</p>
                 <pre class="prettyprint"><code>source /opt/ros/&lt;distro&gt;/setup.bash
 npm i rclnodejs</code></pre>
                 <ul class="guide-list">