Patch subfolder regex to support hyphens by techtasie · Pull Request #1389 · RobotWebTools/rclnodejs

techtasie · 2026-02-11T01:06:44Z

Public API Changes

None

Description

MRPT puts messages into a subfolder containing a hyphen.

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Pull request overview

Updates the ROS2 ament-install path parsing logic in rosidl_gen to correctly handle package subfolders that include hyphens (fixing the mrpt_msgs msg-ros2 case reported in #1388).

Changes:

Broadened the ament-path regex used to extract the package name from file paths.
Broadened the ament-path regex used to extract the interface subfolder from file paths (now supports hyphens).

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Copilot · 2026-02-11T01:09:23Z

rosidl_gen/packages.js

  if (amentExecuted) {
-    return filePath.match(/\w+\/share\/\w+\/(\w+)\//)[1];
+    return filePath.match(/[^/]+\/share\/[^/]+\/([^/]+)\//)[1];
  }


Add a regression test for ament-index paths where the interface subfolder contains a hyphen (e.g., .../share/mrpt_msgs/msg-ros2/Foo.msg). Current test suite exercises findPackagesInDirectory, but doesn’t guarantee coverage for hyphenated subfolders, so this could regress without CI catching it.

Copilot · 2026-02-11T01:09:24Z

rosidl_gen/packages.js

  if (amentExecuted) {
-    return filePath.match(/\w+\/share\/(\w+)\//)[1];
+    return filePath.match(/[^/]+\/share\/([^/]+)\//)[1];
  }


The ament path parsing regex is duplicated between getPackageName and getSubFolder. Consider centralizing the parsing (e.g., split on /share/ and then on /) to reduce the chance of future divergence when path rules change again.

minggangw · 2026-02-11T02:31:24Z

Hi @techtasie Thanks for submitting the PR, can you please also add a test for the mrpt-msgs?

For your reference:

In linux-arm64-build-and-test.yml, install mrpt_msgs
Add a unit test that requies the message in test-rosidl-message-generator.js

Please ignore the errors for the rolling build.

techtasie · 2026-02-11T05:05:17Z

@minggangw, while investigating some issues with other packages (SICKAG/sick_scan_xd#547), I guess this is what happens when you run sudo apt install ros-humble* on a new system 🤦. I realized that a similar issue to the one with the sick_scan_xd messages also exists for mrpt_msgs.

Even with the fixed .msg files and ros2 interface show working again, I get the following error:

Start generation of ROS2 JavaScript messages...
See details https://github.com/RobotWebTools/rclnodejs?tab=readme-ov-file#idl-message-generation for generating from .idl files
Cannot find module '../../generated/sick_scan_xd/sick_scan_xd__msg__SickLdmrsObject.js'
Require stack:
- /home/tim/rclnodejs/generated/sick_scan_xd/sick_scan_xd__ldmrs__SickLdmrsObjectArray.js
- /home/tim/rclnodejs/lib/interface_loader.js
- /home/tim/rclnodejs/rostsd_gen/index.js
- /home/tim/rclnodejs/scripts/generate_messages.js, please make sure it's built correctly for the x64 platform.
Generation complete.

The same error occurs for mrpt_msgs, as you can see in my test commit.

The problem seems to be that there are now multiple .msg files in two locations: one next to the .idl file and one in the parent folder at the root of the share directory.

❯ tree msg ros2 ldmrs
msg
....
├── SickLdmrsObject.idl
├── SickLdmrsObject.msg
├── SickLdmrsObjectArray.idl
└── SickLdmrsObjectArray.msg
ros2
└── RadarObject.msg
ldmrs
├── SickLdmrsObject.msg
└── SickLdmrsObjectArray.msg

This is causing a reference error.

For mrpt it is similar:

❯ tree msg msg-ros2
msg
├── GenericObject.idl
├── GenericObservation.idl
├── GraphConstraint.idl
├── GraphSlamAgent.idl
├── GraphSlamAgents.idl
├── GraphSlamStats.idl
├── NetworkOfPoses.idl
├── NodeIDWithLaserScan.idl
├── NodeIDWithPose.idl
├── NodeIDWithPoseVec.idl
├── ObservationObject.idl
├── ObservationRangeBeacon.idl
├── ObservationRangeBearing.idl
├── SingleObjectObservation.idl
├── SingleRangeBeaconObservation.idl
├── SingleRangeBearingObservation.idl
├── Waypoint.idl
└── WaypointSequence.idl
msg-ros2
├── GenericObservation.msg
├── GraphConstraint.msg
├── GraphSlamAgent.msg
├── GraphSlamStats.msg
├── ObservationObject.msg
├── ObservationRangeBeacon.msg
├── ObservationRangeBearing.msg
└── WaypointSequence.msg

It is still a reference error since the files are in different folders, with the additional issue that ros2 interface show breaks because the .msg files are not in the same folder as the .idl files.

After seeing all this, I think it will probably have to be fixed in the ROS IDL generator. If ros2 interface show cannot handle these split file locations, then in my opinion rclnodejs should not have to handle them either.

I will keep you posted!

minggangw · 2026-02-11T09:31:33Z

@techtasie I check the current failures on arm64 platform, it's because we will test all messges in .idl, like:

rclnodejs/test/test-message-object.js

Lines 43 to 51 in 70cfe1f

    
           const s = 
        
             info.pkgName + '/' + info.subFolder + '/' + info.interfaceName; 
        
           rclnodejs.createMessage(s); 
        
           rclnodejs.createMessage({ 
        
             package: info.pkgName, 
        
             type: info.subFolder, 
        
             name: info.interfaceName, 
        
           });

The problem is GraphSlamAgent doesn't has .idl and the test failed finally as it reports:

 Error: Cannot find module '../../generated/mrpt_msgs/mrpt_msgs__msg__GraphSlamAgent.js'

techtasie · 2026-02-11T09:56:08Z

@minggangw i just installed the mrpt msgs into the arm64 package to test out if the build fails on the action too.

The package they are using is this one:
http://packages.ros.org/ros2/ubuntu/pool/main/r/ros-humble-mrpt-msgs/ros-humble-mrpt-msgs_0.6.0-1jammy.20251219.063255_arm64.deb

But when I extract it:

❯dpkg-deb -x ros-humble-mrpt-msgs_0.6.0-1jammy.20251219.063255_arm64.deb .
❯ find . -name "GraphSlamAgent*"
./opt/ros/humble/share/mrpt_msgs/msg/GraphSlamAgent.idl
./opt/ros/humble/share/mrpt_msgs/msg/GraphSlamAgents.idl
./opt/ros/humble/share/mrpt_msgs/msg-common/GraphSlamAgents.msg
./opt/ros/humble/share/mrpt_msgs/msg-ros2/GraphSlamAgent.msg

I find these files just in a different folder. That is what I meant to say with the reference is broken.

minggangw · 2026-02-11T10:15:29Z

@minggangw i just installed the mrpt msgs into the arm64 package to test out if the build fails on the action too.

The package they are using is this one: http://packages.ros.org/ros2/ubuntu/pool/main/r/ros-humble-mrpt-msgs/ros-humble-mrpt-msgs_0.6.0-1jammy.20251219.063255_arm64.deb

But when I extract it:
❯dpkg-deb -x ros-humble-mrpt-msgs_0.6.0-1jammy.20251219.063255_arm64.deb .
❯ find . -name "GraphSlamAgent*"
./opt/ros/humble/share/mrpt_msgs/msg/GraphSlamAgent.idl
./opt/ros/humble/share/mrpt_msgs/msg/GraphSlamAgents.idl
./opt/ros/humble/share/mrpt_msgs/msg-common/GraphSlamAgents.msg
./opt/ros/humble/share/mrpt_msgs/msg-ros2/GraphSlamAgent.msg
I find these files just in a different folder. That is what I meant to say with the reference is broken.

I see, will take a look later.

minggangw · 2026-02-12T07:08:44Z

@techtasie I submit #1390 and it passes all tests :)

techtasie · 2026-02-12T07:10:21Z

@minggangw, thanks it looks good to me!

Copilot AI review requested due to automatic review settings February 11, 2026 01:06

Copilot started reviewing on behalf of techtasie February 11, 2026 01:07 View session

Copilot AI reviewed Feb 11, 2026

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Patch subfolder regex to support hyphens

9c03e05

techtasie force-pushed the develop branch from 8bde77d to 9c03e05 Compare February 11, 2026 03:20

Test: Will probably fail

7ff869d

techtasie mentioned this pull request Feb 11, 2026

ros2 interface show incompatible with ros2/rosidl when using subfolders ros2/ros2cli#1186

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techtasie closed this Feb 12, 2026

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Patch subfolder regex to support hyphens#1389

Patch subfolder regex to support hyphens#1389
techtasie wants to merge 2 commits intoRobotWebTools:developfrom
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