Infer concrete types from constructor TypeClass forms (#1526)

Support the constructor form of `TypeClass` (the value returned by `rclnodejs.require(...)`) with full type inference for messages, services, and actions, bringing it on par with the existing string and object-descriptor forms, and make the runtime loader accept that form so it works end to end.

## Types
- `TypeClass` now recognizes message, service (`{ Request, Response }`), and action (`{ Goal, Feedback, Result }`) constructor shapes (`types/node.d.ts`, `types/service.d.ts`, `types/action_client.d.ts`).
- `ServiceRequestMessage` / `ServiceResponseMessage` and `ActionGoal` / `ActionFeedback` / `ActionResult` infer the concrete payload types from the constructor.
- `ServiceType` / `ActionType` and the `rostsd_gen` generator (`rostsd_gen/index.js`) handle the constructor form.

## Runtime
- `lib/interface_loader.js`: `loadInterface()` accepts an already-loaded interface constructor and returns it as-is (idempotent), validated via the generated class's static `type()` method. Arbitrary functions still fall through to the existing `MESSAGE_NOT_FOUND` error. This fixes the `MESSAGE_NOT_FOUND` failure when a constructor was passed to `ActionServer` / `ActionClient`, which call `loadInterface` unconditionally.

## Tests
- `test/types/index.test-d.ts`: `tsd` coverage for every `TypeClass` form — message, service, and action via constructor, string, and object descriptor.
- `test/test-action-server.js`, `test/test-service.js`: runtime regression tests that pass the constructor form to `ActionServer` / `ActionClient` and `createService` / `createClient` and exercise a full round-trip.
- `test/test-message-type.js`: unit tests for `loadInterface()` idempotency and the arbitrary-function rejection path.

## Demos
- `topics`, `services`, and `actions` TypeScript demos updated to demonstrate both the string-name and message/service/action-class styles, with typed callbacks via `typeof Ctor`.
- All three demos depend on the local rclnodejs (`file:../../..`) and document `npm install --ignore-scripts`; README source examples use the current LTS (Lyrical).

Fix: #1525

Author: minggangw

demo/electron/manipulator/README.md

@@ -64,7 +64,7 @@ npm start
 1. **Source your ROS2 environment**:
 
    ```bash
-   source /opt/ros/humble/setup.bash  # or your ROS2 installation path
+   source /opt/ros/$ROS_DISTRO/setup.bash  # or your ROS2 installation path
    ```
 
 2. **Run the demo**:
@@ -140,7 +140,7 @@ To verify the demo is working correctly, you can monitor the published topics:
 
 ```bash
 # In a separate terminal, source ROS2 environment
-source /opt/ros/humble/setup.bash  # or your ROS2 installation
+source /opt/ros/$ROS_DISTRO/setup.bash  # or your ROS2 installation
 
 # List all available topics
 ros2 topic list
@@ -199,7 +199,7 @@ Even as a standalone application, **ROS 2 must be installed and sourced on the t
 
 ```bash
 # Source ROS2 environment
-source /opt/ros/humble/setup.bash
+source /opt/ros/$ROS_DISTRO/setup.bash
 
 # Run the packaged executable
 ./out/rclnodejs-manipulator-demo-linux-x64/rclnodejs-manipulator-demo
@@ -301,7 +301,7 @@ manipulator/
 
    ```bash
    # Source ROS2 environment manually
-   source /opt/ros/humble/setup.bash  # or your ROS2 installation path
+   source /opt/ros/$ROS_DISTRO/setup.bash  # or your ROS2 installation path
    npm start
    ```
 

demo/typescript/README.md

@@ -35,6 +35,10 @@ Asynchronous actions with progress feedback and cancellation
 - **Full typing** for all ROS2 messages, services, and actions
 - **Compile-time validation** of message structures
 - **IntelliSense support** in VS Code and other TypeScript editors
+- **Two equivalent forms**: identify a type by its **string name**
+  (e.g. `'std_msgs/msg/String'`) or by its **class/constructor** obtained from
+  `rclnodejs.require(...)`. With the class form, TypeScript infers the concrete
+  message/service/action types automatically\u2014no explicit annotations needed.
 
 ### Modern Development
 

demo/typescript/actions/README.md

@@ -60,7 +60,7 @@ Before running this demo, ensure you have:
 1. **Ensure ROS2 is sourced**:
 
    ```bash
-   source /opt/ros/humble/setup.bash  # or your ROS2 distribution
+   source /opt/ros/lyrical/setup.bash  # or your ROS2 distribution
    ```
 
 2. **Build the main rclnodejs package** (if not already done):
@@ -79,8 +79,13 @@ Before running this demo, ensure you have:
 
 4. **Install dependencies**:
 
+   This demo depends on the **local rclnodejs** in this repository
+   (`"rclnodejs": "file:../../.."`). Install with `--ignore-scripts` so npm
+   links the local package without trying to rebuild its native addon (the
+   prebuilt binary in the repo is reused):
+
    ```bash
-   npm install
+   npm install --ignore-scripts
    ```
 
 5. **Build the TypeScript code**:
@@ -194,29 +199,52 @@ You can also test the action server using ROS2 command-line tools:
 
 ## Understanding the Code
 
+Both the server and client show the **two equivalent, fully type-safe ways**
+to identify an action type:
+
+- **String name**: pass the type string, e.g. `'test_msgs/action/Fibonacci'`.
+- **Action class**: obtain the constructor with `rclnodejs.require(...)` and
+  pass it directly. TypeScript then infers the goal, feedback and result types
+  from the constructor, so no explicit `any` annotations are needed.
+
+This demo uses the **action class** form. The constructor is loaded once at
+module scope and reused for the type annotations via `typeof Fibonacci`:
+
+```typescript
+const Fibonacci = rclnodejs.require('test_msgs/action/Fibonacci');
+```
+
 ### Action Server (`server.ts`)
 
-The action server implements three main callbacks:
+The action server implements three main callbacks, all typed from
+`typeof Fibonacci`:
 
 1. **Goal Callback**: Decides whether to accept or reject incoming goals
 
    ```typescript
-   goalCallback(goalHandle: any): rclnodejs.GoalResponse {
-     // Validate the goal and return ACCEPT or REJECT
+   goalCallback(
+     goal: rclnodejs.ActionGoal<typeof Fibonacci>
+   ): rclnodejs.GoalResponse {
+     // Validate the goal (goal.order is typed) and return ACCEPT or REJECT
    }
    ```
 
 2. **Execute Callback**: Performs the actual work (Fibonacci calculation)
 
    ```typescript
-   async executeCallback(goalHandle: any): Promise<any> {
-     // Calculate Fibonacci sequence and provide feedback
+   async executeCallback(
+     goalHandle: rclnodejs.ServerGoalHandle<typeof Fibonacci>
+   ): Promise<rclnodejs.ActionResult<typeof Fibonacci>> {
+     // Calculate the sequence and publish typed feedback
    }
    ```
 
 3. **Cancel Callback**: Handles goal cancellation requests
+
    ```typescript
-   cancelCallback(goalHandle: any): rclnodejs.CancelResponse {
+   cancelCallback(
+     goalHandle: rclnodejs.ServerGoalHandle<typeof Fibonacci> | undefined
+   ): rclnodejs.CancelResponse {
      // Return ACCEPT to allow cancellation
    }
    ```
@@ -226,14 +254,23 @@ The action server implements three main callbacks:
 The action client:
 
 1. Waits for the action server to be available
-2. Creates and sends a goal
-3. Handles feedback during execution
+2. Creates and sends a goal (`new Fibonacci.Goal()`)
+3. Handles typed feedback during execution
 4. Processes the final result
 
 ```typescript
+const goal = new Fibonacci.Goal();
+goal.order = FIBONACCI_ORDER;
+
 const goalHandle = await this.actionClient.sendGoal(goal, (feedback) =>
   this.feedbackCallback(feedback)
 );
+
+private feedbackCallback(
+  feedback: rclnodejs.ActionFeedback<typeof Fibonacci>
+): void {
+  // feedback.sequence is typed
+}
 ```
 
 ## Customization
@@ -263,7 +300,7 @@ You can modify the demo to:
 
 4. **ROS2 environment not sourced**:
    ```bash
-   source /opt/ros/humble/setup.bash  # or your ROS2 distribution
+   source /opt/ros/lyrical/setup.bash  # or your ROS2 distribution
    ```
 
 ### Debugging

demo/typescript/actions/package.json

@@ -33,12 +33,7 @@
     "ts-node": "^10.9.2",
     "typescript": "^5.8.3"
   },
-  "peerDependencies": {
-    "rclnodejs": "^2.0.0"
-  },
-  "peerDependenciesMeta": {
-    "rclnodejs": {
-      "optional": false
-    }
+  "dependencies": {
+    "rclnodejs": "file:../../.."
   }
 }

demo/typescript/actions/src/client.ts

@@ -3,30 +3,44 @@
  *
  * This demo shows how to create a ROS2 action client using TypeScript
  * with rclnodejs. It sends Fibonacci calculation goals to an action server.
+ *
+ * It also demonstrates the two equivalent, fully type-safe ways to
+ * identify an action type:
+ *   - String name:  new rclnodejs.ActionClient(node, 'test_msgs/action/Fibonacci', ...)
+ *   - Action class: new rclnodejs.ActionClient(node, Fibonacci, ...)
+ *
+ * This demo uses the class form (obtained from `rclnodejs.require(...)`):
+ * TypeScript infers the goal, feedback and result types directly from the
+ * constructor, so the feedback callback needs no explicit `any` annotation.
  */
 
 import * as rclnodejs from 'rclnodejs';
 
 const ACTION_NAME = 'fibonacci';
 const FIBONACCI_ORDER = 10;
 
+// The Fibonacci action class (type-based form). Passing this constructor to
+// ActionClient lets TypeScript infer the goal/feedback/result types. The
+// string form 'test_msgs/action/Fibonacci' works identically.
+const Fibonacci = rclnodejs.require('test_msgs/action/Fibonacci');
+
 /**
  * Fibonacci Action Client Class
  */
 class FibonacciActionClient {
   private node: rclnodejs.Node;
-  private actionClient: rclnodejs.ActionClient<'test_msgs/action/Fibonacci'>;
+  private actionClient: rclnodejs.ActionClient<typeof Fibonacci>;
 
   constructor(node: rclnodejs.Node) {
     this.node = node;
 
     // Start spinning the node to handle callbacks
     rclnodejs.spin(node);
 
-    // Create action client for Fibonacci action
+    // Create action client for Fibonacci action using the action class
     this.actionClient = new rclnodejs.ActionClient(
       node,
-      'test_msgs/action/Fibonacci',
+      Fibonacci,
       ACTION_NAME
     );
   }
@@ -41,10 +55,7 @@ class FibonacciActionClient {
     await this.actionClient.waitForServer();
     this.node.getLogger().info('✓ Action server is available');
 
-    // Get the Fibonacci action interface
-    const Fibonacci = rclnodejs.require('test_msgs/action/Fibonacci');
-
-    // Create a new goal
+    // Create a new goal (goal.order is typed from the inferred goal type)
     const goal = new Fibonacci.Goal();
     goal.order = FIBONACCI_ORDER;
 
@@ -53,10 +64,9 @@ class FibonacciActionClient {
       .info(`Sending goal request for Fibonacci(${goal.order})...`);
 
     try {
-      // Send the goal with feedback callback
-      const goalHandle = await this.actionClient.sendGoal(
-        goal,
-        (feedback: any) => this.feedbackCallback(feedback)
+      // Send the goal with feedback callback (feedback is typed)
+      const goalHandle = await this.actionClient.sendGoal(goal, (feedback) =>
+        this.feedbackCallback(feedback)
       );
 
       if (!goalHandle.isAccepted()) {
@@ -91,7 +101,9 @@ class FibonacciActionClient {
   /**
    * Callback function for receiving feedback from the action server
    */
-  private feedbackCallback(feedback: any): void {
+  private feedbackCallback(
+    feedback: rclnodejs.ActionFeedback<typeof Fibonacci>
+  ): void {
     this.node
       .getLogger()
       .info(`📊 Received feedback: [${feedback.sequence.join(', ')}]`);

demo/typescript/actions/src/server.ts

@@ -3,26 +3,40 @@
  *
  * This demo shows how to create a ROS2 action server using TypeScript
  * with rclnodejs. It provides a Fibonacci calculation service.
+ *
+ * It also demonstrates the two equivalent, fully type-safe ways to
+ * identify an action type:
+ *   - String name:  new rclnodejs.ActionServer(node, 'test_msgs/action/Fibonacci', ...)
+ *   - Action class: new rclnodejs.ActionServer(node, Fibonacci, ...)
+ *
+ * This demo uses the class form (obtained from `rclnodejs.require(...)`):
+ * TypeScript infers the goal, feedback and result types directly from the
+ * constructor, so the callbacks need no explicit `any` annotations.
  */
 
 import * as rclnodejs from 'rclnodejs';
 
 const ACTION_NAME = 'fibonacci';
 
+// The Fibonacci action class (type-based form). Passing this constructor to
+// ActionServer lets TypeScript infer the goal/feedback/result types. The
+// string form 'test_msgs/action/Fibonacci' works identically.
+const Fibonacci = rclnodejs.require('test_msgs/action/Fibonacci');
+
 /**
  * Fibonacci Action Server Class
  */
 class FibonacciActionServer {
   private node: rclnodejs.Node;
-  private actionServer: rclnodejs.ActionServer<'test_msgs/action/Fibonacci'>;
+  private actionServer: rclnodejs.ActionServer<typeof Fibonacci>;
 
   constructor(node: rclnodejs.Node) {
     this.node = node;
 
-    // Create action server for Fibonacci action
+    // Create action server for Fibonacci action using the action class
     this.actionServer = new rclnodejs.ActionServer(
       node,
-      'test_msgs/action/Fibonacci',
+      Fibonacci,
       ACTION_NAME,
       this.executeCallback.bind(this),
       this.goalCallback.bind(this),
@@ -39,13 +53,12 @@ class FibonacciActionServer {
    * Execute callback - performs the Fibonacci calculation
    */
   async executeCallback(
-    goalHandle: rclnodejs.ServerGoalHandle<'test_msgs/action/Fibonacci'>
-  ): Promise<any> {
+    goalHandle: rclnodejs.ServerGoalHandle<typeof Fibonacci>
+  ): Promise<rclnodejs.ActionResult<typeof Fibonacci>> {
     this.node
       .getLogger()
       .info(`🚀 Executing goal for Fibonacci(${goalHandle.request.order})`);
 
-    const Fibonacci = rclnodejs.require('test_msgs/action/Fibonacci');
     const feedbackMessage = new Fibonacci.Feedback();
     const sequence: number[] = [0, 1];
 
@@ -110,13 +123,12 @@ class FibonacciActionServer {
   }
 
   /**
-   * Goal callback - decides whether to accept or reject incoming goals
-   *
-   * Note: According to the type definition, this should receive ActionGoal<T>,
-   * but the actual implementation may pass different types. Using 'any' to handle
-   * this inconsistency and support ActionGoal<T>.
+   * Goal callback - decides whether to accept or reject incoming goals.
+   * The goal type is inferred from the action constructor.
    */
-  goalCallback(goal: any): rclnodejs.GoalResponse {
+  goalCallback(
+    goal: rclnodejs.ActionGoal<typeof Fibonacci>
+  ): rclnodejs.GoalResponse {
     const order = goal.order;
 
     this.node
@@ -146,9 +158,7 @@ class FibonacciActionServer {
    * Cancel callback - handles goal cancellation requests
    */
   cancelCallback(
-    goalHandle:
-      | rclnodejs.ServerGoalHandle<'test_msgs/action/Fibonacci'>
-      | undefined
+    goalHandle: rclnodejs.ServerGoalHandle<typeof Fibonacci> | undefined
   ): rclnodejs.CancelResponse {
     this.node.getLogger().info('📥 Received cancel request');
     return rclnodejs.CancelResponse.ACCEPT;