Phase 1: Rename CJS-only build/generator files to .cjs (#1529)

First phase of the ESM migration. Renames the build- and generator-time modules that must remain CommonJS — they run synchronously under Node (node-gyp, `postinstall`, message generation) — from `.js` to `.cjs`. The explicit `.cjs` extension pins them to CommonJS ahead of introducing `"type": "module"` in Phase 3.

## Renamed to `.cjs` (24 files)

- **`scripts/`** — `config`, `cpplint`, `generate_messages`, `generate_tsd`, `install`, `ros_distro`, `run_test`, `tag_prebuilds`
- **`rosidl_gen/`** — `action_msgs`, `deallocator`, `filter`, `generate_worker`, `idl_generator`, `index`, `message_translator`, `packages`, `primitive_types`
- **`rosidl_gen/templates/`** — `action-template`, `message-template`, `service-event-template`, `service-template`
- **`rosidl_parser/`** — `py_utils`, `rosidl_parser`
- **`rostsd_gen/`** — `index`

## Reference updates (19 files)

- **`package.json`** — `scripts` + `bin` entries point at the `.cjs` paths
- **`binding.gyp`** — generator/config paths
- **`.npmignore`** / **eslint globs** — include `.cjs`
- **Internal requires** — cross-references within the renamed trees
- **Worker spawn path** — `generate_worker.cjs`
- **Extensionless require fix** — `py_utils` → `./py_utils.cjs` (extensionless `require` does *not* resolve `.cjs`)
- **Emitted require paths** — `message-template.cjs` output strings
- **External requires** — `index.js`, `lib/interface_loader.js`, `lib/message_introspector.js`, `example/rosidl/*`, and 8 `test/*` files

Fix: #1358

Author: minggangw

.npmignore

@@ -31,7 +31,7 @@ demo/
 .nyc_output/
 .vscode/
 .husky/
-scripts/cpplint.js
+scripts/cpplint.cjs
 scripts/npm-pack.sh
 scripts/npmjs-readme.md
-scripts/run_test.js
+scripts/run_test.cjs

binding.gyp

@@ -8,10 +8,10 @@
     }
   },
   'variables': {
-    'ros_version': '<!(node scripts/ros_distro.js)',
+    'ros_version': '<!(node scripts/ros_distro.cjs)',
     'runtime%': 'node',
-    'ros_lib_dir': "<!(node -p \"require('./scripts/config.js').getROSLibPath()\")",
-    'ros_include_root': "<!(node -p \"require('./scripts/config.js').getROSIncludeRootPath()\")",
+    'ros_lib_dir': "<!(node -p \"require('./scripts/config.cjs').getROSLibPath()\")",
+    'ros_include_root': "<!(node -p \"require('./scripts/config.cjs').getROSIncludeRootPath()\")",
   },
   'targets': [
     {
@@ -168,7 +168,7 @@
           # After Galactic, e.g., Humble, Jazzy, Rolling.
           'ros_version > 2105', {
             'include_dirs': [
-              "<!@(node -p \"require('./scripts/config.js').getIncludePaths().forEach(p => console.log(JSON.stringify(p)))\")"
+              "<!@(node -p \"require('./scripts/config.cjs').getIncludePaths().forEach(p => console.log(JSON.stringify(p)))\")"
             ],
             'library_dirs': [
               '<(ros_lib_dir)',

eslint.config.mjs

@@ -57,8 +57,8 @@ export default [
             ecmaVersion: "latest",
             sourceType: "commonjs",
         },
-        files: ["lib/**/*.js", "rosidl_parser/**/*.js", "rosidl_gen/**/*.js",
-            "rostsd_gen/**/*.js", "test/**/*.js", "example/**/*.js", "index.js"],
+        files: ["lib/**/*.js", "rosidl_parser/**/*.{js,cjs}", "rosidl_gen/**/*.{js,cjs}",
+            "rostsd_gen/**/*.{js,cjs}", "test/**/*.js", "example/**/*.js", "index.js"],
         rules: {
             ...eslintPluginPrettierRecommended.rules,
         },

example/rosidl/rosidl-parse-action-example.js

@@ -15,7 +15,7 @@
 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.js');
+const parser = require('../../rosidl_parser/rosidl_parser.cjs');
 
 parser
   .parseActionFile(packageName, packagePath)

example/rosidl/rosidl-parse-msg-example.js

@@ -14,7 +14,7 @@
 
 'use strict';
 
-const parser = require('../../rosidl_parser/rosidl_parser.js');
+const parser = require('../../rosidl_parser/rosidl_parser.cjs');
 
 const rosInstallPath = process.env.AMENT_PREFIX_PATH;
 const packageName = 'std_msgs';

example/rosidl/rosidl-parse-srv-example.js

@@ -14,7 +14,7 @@
 
 'use strict';
 
-const parser = require('../../rosidl_parser/rosidl_parser.js');
+const parser = require('../../rosidl_parser/rosidl_parser.cjs');
 
 const rosInstallPath = process.env.AMENT_PREFIX_PATH;
 const packageName = 'std_srvs';

index.js

@@ -25,7 +25,7 @@ const Context = require('./lib/context.js');
 const debug = require('debug')('rclnodejs');
 const Duration = require('./lib/duration.js');
 const fs = require('fs');
-const generator = require('./rosidl_gen/index.js');
+const generator = require('./rosidl_gen/index.cjs');
 const loader = require('./lib/interface_loader.js');
 const logging = require('./lib/logging.js');
 const NodeOptions = require('./lib/node_options.js');
@@ -44,7 +44,7 @@ const {
   QoSOverridingOptions,
 } = require('./lib/qos_overriding_options.js');
 const rclnodejs = require('./lib/native_loader.js');
-const tsdGenerator = require('./rostsd_gen/index.js');
+const tsdGenerator = require('./rostsd_gen/index.cjs');
 const validator = require('./lib/validator.js');
 const Time = require('./lib/time.js');
 const ActionClient = require('./lib/action/client.js');

lib/interface_loader.js

@@ -16,7 +16,7 @@
 
 const path = require('path');
 const fs = require('fs');
-const generator = require('../rosidl_gen/index.js');
+const generator = require('../rosidl_gen/index.cjs');
 const { TypeValidationError, ValidationError } = require('./errors.js');
 
 let interfaceLoader = {

lib/message_introspector.js

@@ -15,7 +15,7 @@
 'use strict';
 
 const loader = require('./interface_loader.js');
-const { toPlainObject } = require('../rosidl_gen/message_translator.js');
+const { toPlainObject } = require('../rosidl_gen/message_translator.cjs');
 const { TypeValidationError } = require('./errors.js');
 
 /**

package.json

@@ -35,30 +35,30 @@
     "build:dev": "node-gyp -j 16 build --debug",
     "rebuild": "npm run clean && node-gyp -j 16 rebuild",
     "rebuild:dev": "npm run clean && node-gyp -j 16 rebuild --debug",
-    "generate-messages": "node scripts/generate_messages.js",
-    "generate-messages-idl": "node scripts/generate_messages.js --idl",
-    "generate-messages:dev": "node scripts/generate_messages.js --debug",
-    "generate-tsd-messages": "node scripts/generate_tsd.js",
+    "generate-messages": "node scripts/generate_messages.cjs",
+    "generate-messages-idl": "node scripts/generate_messages.cjs --idl",
+    "generate-messages:dev": "node scripts/generate_messages.cjs --debug",
+    "generate-tsd-messages": "node scripts/generate_tsd.cjs",
     "clean": "node-gyp clean && npx rimraf ./generated",
-    "install": "node scripts/install.js",
+    "install": "node scripts/install.cjs",
     "postinstall": "npm run generate-messages",
     "docs": "make -C tools/jsdoc",
     "docs:gh-pages": "node tools/jsdoc/regenerate-published-docs.js --branch origin/gh-pages --preserve-published",
     "docs:gh-pages:full": "node tools/jsdoc/regenerate-published-docs.js --branch origin/gh-pages --full-rebuild",
-    "test": "nyc node --expose-gc ./scripts/run_test.js && tsd && npm install --no-save electron && node test/electron/run_test.js",
-    "test-idl": "nyc node --expose-gc ./scripts/run_test.js --idl",
-    "lint": "eslint && node ./scripts/cpplint.js",
+    "test": "nyc node --expose-gc ./scripts/run_test.cjs && tsd && npm install --no-save electron && node test/electron/run_test.js",
+    "test-idl": "nyc node --expose-gc ./scripts/run_test.cjs --idl",
+    "lint": "eslint && node ./scripts/cpplint.cjs",
     "test:asan": "bash scripts/run_asan_test.sh",
-    "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}",
+    "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,cjs,md,ts}\" ./*.{js,md,ts}",
     "prepare": "husky",
     "coverage": "cat ./coverage/lcov.info | ./node_modules/coveralls/bin/coveralls.js",
     "prebuild:node": "prebuildify --napi --strip --name node --target 20.20.2",
     "prebuild:electron": "prebuildify --napi --strip --name electron --target electron@34.0.0",
-    "prebuild": "npm run prebuild:node && npm run prebuild:electron && node scripts/tag_prebuilds.js",
+    "prebuild": "npm run prebuild:node && npm run prebuild:electron && node scripts/tag_prebuilds.cjs",
     "rosocket": "node ./rosocket/cli.js"
   },
   "bin": {
-    "generate-ros-messages": "./scripts/generate_messages.js",
+    "generate-ros-messages": "./scripts/generate_messages.cjs",
     "rclnodejs-web": "./bin/rclnodejs-web.js",
     "rosocket": "./rosocket/cli.js"
   },