RobotWebTools / rclnodejs
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Align WS and HTTP transports on a default `/capability` path (#1515)

Both transports now apply the default path when (and only when) the caller didn't supply one. Before this commit WS required the caller to spell `/capability` out (`connect('ws://host:9000')` silently failed against a default server) and HTTP did the opposite (it hardcoded `/capability/<kind>/<name>` so `connect('http://host:9001/capability')` silently double-prefixed and 404'd). Pure addition: existing `connect('ws://host:9000/capability')` and `connect('http://host:9001')` callers see byte-identical request URLs.

- `web/client.js`: new `_normaliseWsPath()` wired into `_resolveUrls()` for both URL forms; `_HttpLink.constructor` only appends `/capability` when the URL doesn't already end with it; `_fetch()` builds URLs from the normalised baseUrl with no hardcoded literal. `RosClient` JSDoc + matching `web/index.d.ts` updated to drop the spell-it-out examples and document the "pass an explicit non-default path" escape hatch for path-rewriting proxies.
- `test/test-web-ws.js`: +2 cases (`ws://host:port` and `{ ws: 'ws://host:port' }` against a live runtime).
- `test/test-web-http.js`: +2 cases (`httpBase + '/capability'` under both single-string and `{ http }` forms).

Out of scope: custom server `basePath` / `path` configurations behind a reverse proxy. Same "user URL is authoritative when non-default" model could extend to support them, but that deserves its own PR with proxy-deployment docs and tests.

Fix: #1510

1828 of 2323 branches covered (78.69%)

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3609 of 4038 relevant lines covered (89.38%)

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Builds Branch Commit Type Ran Committer Via Coverage
25785111516 develop Align WS and HTTP transports on a default `/capability` path (#1515) Both transports now apply the default path when (and only when) the caller didn't supply one. Before this commit WS required the caller to spell `/capability` out (`connect('ws:... push web-flow github
85.47
25727559523 develop [Web Runtime] rclnodejs-web CLI launcher (#1513) Adds the bundled `rclnodejs-web` (and `rcl-web` short alias) CLI so frontend developers can run the Web Runtime without writing a Node.js server. - `bin/rclnodejs-web.js` (new, 138 LOC) — declarat... push web-flow github
85.47
25724053837 develop HTTP transport for call/publish (#1512) - New `HttpTransport` (lib/runtime/transports/http.js): POST /{basePath}/capability/{call|publish}/{name}, dispatcher-code → HTTP-status mapping, 1 MiB body cap, optional verifyRequest hook. Re-exported fro... push web-flow github
85.4
25715286133 develop [Web Runtime] Typed Browser SDK over WebSocket (#1511) New `rclnodejs/web` subpath: a pure-JS, ESM Browser SDK that talks to the existing Web Runtime over WebSocket. Zero native deps; safe to bundle for browsers. Verb API: ```js import { connect... push web-flow github
85.75
25664009519 develop Rclnodejs web capability runtime over WebSocket (#1509) Opt-in **Web Runtime** that lets browser code talk to ROS 2 via an explicit, allow-listed set of capabilities exposed by a host Node.js process. JSON over WebSocket; transport-agnostic dispa... push web-flow github
85.63
25482305639 develop [Docs] Refine README and npmjs landing page (#1508) Reorder, trim, and align the README and the npmjs landing page so they read cleanly for ROS 2 developers (repo) and web developers shopping on npmjs (package page). ## README.md - Reorder `##`... push web-flow github
85.86
25472505303 develop Run tests on Lyrical instead of Jazzy (#1506) Lyrical Luth will be the next ROS 2 LTS, so make it the test target on the Windows pixi job. Flip `run_tests: true` from `jazzy` to `lyrical`; Jazzy, Kilted, and Rolling remain build-only. Fix: #1458 push web-flow github
85.86
25474025940 develop [Docs] Surface ROS 2 Lyrical and the 2.0.0-beta.0 baseline (#1507) Roll Lyrical Luth into the user-facing docs now that 2.0.0-beta.0 ships Lyrical support and Linux x64/arm64 prebuilds for Ubuntu 26.04 (Resolute). Tracks the "After beta, before L... push web-flow github
85.86
25470300784 develop Pump lint-staged & sinon to latest (#1505) Fix: #1504 push web-flow github
85.86
25428949655 develop Consolidate all demos under demo/ + add rosocket demo (#1503) - Move `electron_demo/` → `demo/electron/` and `ts_demo/` → `demo/typescript/`, so all runnable demos live under a single `demo/` tree (Electron, TypeScript, and the new rosocket demo)... push web-flow github
85.86
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