Address comments

Author: minggangw

demo/web/README.md

@@ -46,22 +46,3 @@ await ros.publish('/cmd_vel', { linear: { x: 0.5 } });
 That's the whole API. No connection state machine, no `roslibjs`, no
 operations dictionary. See [`web/README.md`](../../web/README.md)
 for the full guide.
-
-## Things you'll likely ask
-
-- **Will my browser need a ROS install?** No. The browser only speaks
-  to the WebSocket (or HTTP) endpoint that `rclnodejs/web` exposes.
-- **Can the browser reach `/dangerous_topic` if it knows the name?**
-  No — anything not listed in `web.json` is rejected with
-  `code: 'not_exposed'`. The allow-list is the contract.
-- **HTTPS / `wss://`?** Put nginx, Caddy, or any TLS proxy in front
-  of `rclnodejs-web`. The runtime itself speaks plain `ws://` /
-  `http://`.
-- **Auth?** Today: gate at the connection level via the
-  `verifyClient(req)` / `verifyRequest(req)` hooks on
-  `WebSocketTransport` / `HttpTransport`. Per-capability scopes are
-  on the roadmap.
-- **Actions?** Not yet — coming in a follow-up release.
-- **64-bit integers look weird** (`"42n"`)? — That's how JavaScript
-  handles `int64` on the wire. Both the SDK and your ROS 2 messages
-  round-trip them transparently.

scripts/npmjs-readme.md

@@ -66,7 +66,7 @@ npm install rclnodejs
 - Tutorials: [tutorials/](https://github.com/RobotWebTools/rclnodejs/tree/develop/tutorials)
 - JavaScript examples: [example/](https://github.com/RobotWebTools/rclnodejs/tree/develop/example)
 - TypeScript demos: [demo/typescript/](https://github.com/RobotWebTools/rclnodejs/tree/develop/demo/typescript)
-- WebSocket gateway demo (rosocket): [demo/rosocket/](https://github.com/RobotWebTools/rclnodejs/tree/develop/demo/rosocket)
+- Browser demos: [demo/web/](https://github.com/RobotWebTools/rclnodejs/tree/develop/demo/web) (typed Web SDK) and [demo/rosocket/](https://github.com/RobotWebTools/rclnodejs/tree/develop/demo/rosocket) (raw WebSocket gateway)
 - Electron demos: [demo/electron/](https://github.com/RobotWebTools/rclnodejs/tree/develop/demo/electron)
 - Companion CLI: [rclnodejs-cli](https://github.com/RobotWebTools/rclnodejs-cli/)
 
@@ -96,21 +96,29 @@ TypeScript declaration files are included in the package. In most projects, conf
 
 Then `import * as rclnodejs from 'rclnodejs'` works the same as the JavaScript example at the top of this README.
 
-## rosocket — ROS 2 gateway for the browser
+## ROS 2 in the browser
 
-A tiny WebSocket gateway to ROS 2, built into `rclnodejs`. Exposes ROS 2 topics and services as plain WebSocket URLs — a lightweight alternative to the rosbridge + roslibjs stack. Browsers use only built-in `WebSocket` + `JSON`; no JavaScript library required.
+`rclnodejs` ships **two** ways to reach ROS 2 from the browser — pick one based on how much glue you want to write.
 
-```bash
-npx rosocket --port 9000 --topic /chatter:std_msgs/msg/String
-```
+- **`rclnodejs/web`** — typed, allow-listed, `curl`-able browser SDK. A `web.json` file is your public API; the browser SDK types `call` / `publish` / `subscribe` end-to-end from your ROS 2 message types; every capability is also a plain HTTP endpoint (`curl -X POST http://<host>/capability/call/<name>`), so shell scripts, Postman, and AI-agent tool-use just work. _New in `2.0.0-beta.0`._
 
-```js
-const ws = new WebSocket('ws://host:9000/topic/chatter');
-ws.onmessage = (e) => console.log(JSON.parse(e.data).data);
-ws.onopen    = () => ws.send(JSON.stringify({ data: 'hi' }));
-```
+  ```ts
+  import { connect } from 'rclnodejs/web';
+  const ros = await connect('ws://host:9000/capability');
+  const reply = await ros.call<'example_interfaces/srv/AddTwoInts'>(
+    '/add_two_ints', { a: '2n', b: '40n' }
+  ); // reply.sum is typed as `${number}n`
+  ```
+
+  See the [Web SDK guide](https://github.com/RobotWebTools/rclnodejs/tree/develop/web).
+
+- **`rosocket`** — thin WebSocket gateway, zero browser dependencies (just built-in `WebSocket` + `JSON`). Best for quick prototypes and `roslibjs`-style apps.
+
+  ```bash
+  npx rosocket --port 9000 --topic /chatter:std_msgs/msg/String
+  ```
 
-See the [rosocket guide](https://github.com/RobotWebTools/rclnodejs/tree/develop/rosocket) for the URL scheme, service calls, and the programmatic `startRosocket()` API.
+  See the [rosocket guide](https://github.com/RobotWebTools/rclnodejs/tree/develop/rosocket).
 
 ## License
 

web/README.md

@@ -6,8 +6,7 @@
 module plus a server runtime that together expose a declarative
 subset of your ROS 2 graph over WebSocket **and** plain HTTP. The
 browser API is three verbs — `call`, `publish`, `subscribe` — typed
-end-to-end from rclnodejs's auto-generated message and service
-maps.
+end-to-end from your ROS 2 message and service types.
 
 For runnable code see [`demo/web/`](../demo/web/):
 
@@ -84,7 +83,7 @@ const ros = await connect({
 
 The snippet below is **TypeScript** — the `<'pkg/.../Type'>` generic
 in angle brackets is what drives end-to-end typing of the payload
-and reply, sourced from rclnodejs's generated maps (no codegen, no
+and reply from your ROS 2 message types (no codegen, no
 shared types module). From plain JavaScript, drop the generic and
 the calls behave identically.
 
@@ -155,5 +154,5 @@ HTTP works**:
 |                             | **`rclnodejs/web`**                                                  | `rosbridge` + `roslibjs`          |
 | --------------------------- | -------------------------------------------------------------------- | --------------------------------- |
 | **Public API surface**      | **`web.json` allow-list — reviewable artifact**                      | The whole live ROS graph          |
-| **TypeScript types**        | Single string generic → request/response/message from generated maps | `any`; bolt-on community packages |
+| **TypeScript types**        | One ROS 2 type name → fully typed request/response/message | `any`; bolt-on community packages |
 | **HTTP `call` / `publish`** | ✅ — `curl`, Postman, AI-agent tool-use just work                    | ❌ (WebSocket only)               |