Rename scripts/generators to .cjs for ESM migration

Author: mahmoud-ghalayini

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()\")",
     'node_major_version': '<!(node -p \"process.versions.node.split(\'.\')[0]\")',
   },
   'targets': [
@@ -167,7 +167,7 @@
           # 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)',

example/rosidl/README.md

@@ -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-action-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-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_srvs';

example/rosidl/rosidl-parse-srv-example.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');
@@ -40,7 +40,7 @@ const {
 const path = require('path');
 const QoS = require('./lib/qos.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');

index.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/interface_loader.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');
 
 /**

lib/message_introspector.js

@@ -2,7 +2,7 @@
   "name": "rclnodejs",
   "version": "1.7.0",
   "description": "ROS2.0 JavaScript client with Node.js",
-  "main": "index.js",
+  "main": "./index.js",
   "types": "types/index.d.ts",
   "keywords": [
     "rclnodejs",
@@ -17,24 +17,24 @@
     "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": "cd docs && make",
-    "test": "nyc node --expose-gc ./scripts/run_test.js && tsd",
-    "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",
+    "test-idl": "nyc node --expose-gc ./scripts/run_test.cjs --idl",
+    "lint": "eslint && node ./scripts/cpplint.cjs",
     "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 16.20.2 --target electron@23.0.0 && node scripts/tag_prebuilds.cjs"
   },
   "bin": {
-    "generate-ros-messages": "./scripts/generate_messages.js"
+    "generate-ros-messages": "./scripts/generate_messages.cjs"
   },
   "authors": [
     "Minggang Wang <minggangw@gmail.com>",
@@ -100,6 +100,6 @@
     "directory": "test/types"
   },
   "engines": {
-    "node": ">= 16.13.0"
+    "node": ">= 18.0.0"
   }
 }

package.json

@@ -19,7 +19,7 @@ const path = require('path');
 const fse = require('../lib/utils.js');
 const execFile = require('child_process').execFile;
 const pythonExecutable =
-  require('../rosidl_parser/py_utils').getPythonExecutable('python3');
+  require('../rosidl_parser/py_utils.cjs').getPythonExecutable('python3');
 
 async function convertIDLToROS2IDL(pkgName, idlFilePath, outputDir) {
   const packagePath = path.join(outputDir, pkgName);