Add support check for content filter feature in subscription

.github/workflows/linux-x64-build-and-test.yml

@@ -40,6 +40,7 @@ jobs:
           # Rolling Ridley (No End-Of-Life)
           - docker_image: ubuntu:noble
             ros_distribution: rolling
+            ros_tar_url: "https://github.com/ros2/ros2/releases/download/release-rolling-nightlies/ros2-rolling-nightly-linux-amd64.tar.bz2"
     steps:
     - name: Setup Node.js ${{ matrix.node-version }} on ${{ matrix.architecture }}
       uses: actions/setup-node@v6
@@ -48,14 +49,46 @@ jobs:
         architecture: ${{ matrix.architecture }}
 
     - name: Setup ROS2
+      if: ${{ matrix.ros_distribution != 'rolling' }}
       uses: ros-tooling/setup-ros@v0.7
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}
-        use-ros2-testing: ${{ matrix.ros_distribution == 'rolling' }}
+
+    - name: Install ROS2 Rolling Nightly
+      if: ${{ matrix.ros_distribution == 'rolling' }}
+      run: |
+        apt-get update
+        apt-get install -y software-properties-common curl
+
+        # Enable required repositories (per https://docs.ros.org/en/rolling/Installation/Alternatives/Ubuntu-Install-Binary.html)
+        add-apt-repository universe
+        ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}')
+        curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"
+        dpkg -i /tmp/ros2-apt-source.deb
+
+        # Install prerequisites and apt packages BEFORE nightly tarball
+        apt-get update
+        apt-get install -y build-essential cmake tar bzip2 python3 python3-rosdep python3-colcon-common-extensions
+        apt-get install -y ros-rolling-test-msgs ros-rolling-mrpt-msgs
+
+        # Extract nightly binary AFTER apt packages so nightly's newer libs overwrite apt's older ones
+        curl -sL "${{ matrix.ros_tar_url }}" -o /tmp/ros2-nightly.tar.bz2
+        mkdir -p /opt/ros/rolling
+        tar xf /tmp/ros2-nightly.tar.bz2 --strip-components=1 -C /opt/ros/rolling
+        rm /tmp/ros2-nightly.tar.bz2
+
+        # Install any remaining runtime dependencies using rosdep
+        rosdep init || true
+        rosdep update
+        rosdep install --rosdistro rolling --from-paths /opt/ros/rolling/share --ignore-src -y --skip-keys "cyclonedds fastcdr fastdds iceoryx_binding_c rmw_connextdds rti-connext-dds-7.3.0 urdfdom_headers"
 
     - name: Install test-msgs and mrpt_msgs on Linux
+      if: ${{ matrix.ros_distribution != 'rolling' }}
+      run: |
+        sudo apt install -y ros-${{ matrix.ros_distribution }}-test-msgs ros-${{ matrix.ros_distribution }}-mrpt-msgs
+
+    - name: Install Electron test dependencies
       run: |
-        sudo apt install ros-${{ matrix.ros_distribution }}-test-msgs ros-${{ matrix.ros_distribution }}-mrpt-msgs
         # Adjust dependencies based on Ubuntu version
         LIBASOUND_PKG="libasound2"
         if grep -q "24.04" /etc/os-release; then
@@ -65,7 +98,18 @@ jobs:
 
     - uses: actions/checkout@v6
 
+    - name: Build and test rclnodejs (nightly)
+      if: ${{ matrix.ros_distribution == 'rolling' }}
+      run: |
+        uname -a
+        source /opt/ros/rolling/setup.bash
+        npm i
+        npm run lint
+        npm test
+        npm run clean
+
     - name: Build and test rclnodejs
+      if: ${{ matrix.ros_distribution != 'rolling' }}
       run: |
         uname -a
         source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
@@ -77,7 +121,7 @@ jobs:
     - name: Test with IDL ROS messages against rolling
       if: ${{ matrix.ros_distribution == 'rolling' }}
       run: |
-        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+        source /opt/ros/rolling/setup.bash
         npm i
         npm run test-idl
         npm run clean

lib/subscription.js

@@ -16,6 +16,7 @@
 
 const rclnodejs = require('./native_loader.js');
 const Entity = require('./entity.js');
+const DistroUtils = require('./distro.js');
 const { applySerializationMode } = require('./message_serialization.js');
 const debug = require('debug')('rclnodejs:subscription');
 
@@ -144,6 +145,18 @@ class Subscription extends Entity {
     return this._serializationMode;
   }
 
+  /**
+   * Check if content filtering is supported for this subscription.
+   * Requires ROS 2 Rolling or later.
+   * @returns {boolean} True if the subscription instance supports content filtering; otherwise false.
+   */
+  isContentFilterSupported() {
+    if (DistroUtils.getDistroId() < DistroUtils.DistroId.ROLLING) {
+      return false;
+    }
+    return rclnodejs.isContentFilterSupported(this.handle);
+  }
+
   /**
    * Test if the RMW supports content-filtered topics and that this subscription
    * has an active wellformed content-filter.

src/rcl_subscription_bindings.cpp

@@ -16,6 +16,7 @@
 
 #include <rcl/error_handling.h>
 #include <rcl/rcl.h>
+#include <rcl/subscription.h>
 #include <rmw/types.h>
 
 #include <cstdio>
@@ -264,6 +265,20 @@ Napi::Value GetSubscriptionTopic(const Napi::CallbackInfo& info) {
   return Napi::String::New(env, topic);
 }
 
+#if ROS_VERSION > 2505  // Rolling only
+Napi::Value IsContentFilterSupported(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  RclHandle* subscription_handle =
+      RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_subscription_t* subscription =
+      reinterpret_cast<rcl_subscription_t*>(subscription_handle->ptr());
+
+  bool is_supported = rcl_subscription_is_cft_supported(subscription);
+  return Napi::Boolean::New(env, is_supported);
+}
+#endif
+
 Napi::Value HasContentFilter(const Napi::CallbackInfo& info) {
   Napi::Env env = info.Env();
 
@@ -476,6 +491,10 @@ Napi::Object InitSubscriptionBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("rclTakeRaw", Napi::Function::New(env, RclTakeRaw));
   exports.Set("getSubscriptionTopic",
               Napi::Function::New(env, GetSubscriptionTopic));
+#if ROS_VERSION > 2505  // Rolling only
+  exports.Set("isContentFilterSupported",
+              Napi::Function::New(env, IsContentFilterSupported));
+#endif
   exports.Set("hasContentFilter", Napi::Function::New(env, HasContentFilter));
   exports.Set("setContentFilter", Napi::Function::New(env, SetContentFilter));
   exports.Set("getContentFilter", Napi::Function::New(env, GetContentFilter));

test/test-subscription-content-filter.js

@@ -480,3 +480,36 @@ describe('subscription content-filtering', function () {
     done();
   });
 });
+
+describe('subscription isContentFilterSupported', function () {
+  this.timeout(30 * 1000);
+
+  beforeEach(async function () {
+    await rclnodejs.init();
+    this.node = new Node('cft_support_test_node');
+  });
+
+  afterEach(function () {
+    this.node.destroy();
+    rclnodejs.shutdown();
+  });
+
+  it('isContentFilterSupported returns boolean matching RMW capability', function (done) {
+    const typeclass = 'std_msgs/msg/Int16';
+    const subscription = this.node.createSubscription(
+      typeclass,
+      TOPIC,
+      (msg) => {}
+    );
+
+    const supported = subscription.isContentFilterSupported();
+    assert.strictEqual(typeof supported, 'boolean');
+
+    // isContentFilterSupported requires rolling; on older distros it returns false
+    const isRolling = DistroUtils.getDistroId() >= DistroUtils.DistroId.ROLLING;
+    const expectedSupported = isRolling && isContentFilteringSupported();
+    assert.strictEqual(supported, expectedSupported);
+
+    done();
+  });
+});

test/types/index.test-d.ts

@@ -245,6 +245,7 @@ expectType<rclnodejs.SubscriptionWithRawMessageCallback>(rawMessageCallback);
 
 expectType<string>(subscription.topic);
 expectType<boolean>(subscription.isDestroyed());
+expectType<boolean>(subscription.isContentFilterSupported());
 expectType<boolean>(subscription.setContentFilter(contentFilter));
 expectType<rclnodejs.SubscriptionContentFilter | undefined>(
   subscription.getContentFilter()

types/subscription.d.ts

@@ -51,6 +51,12 @@ declare module 'rclnodejs' {
      */
     readonly isRaw: boolean;
 
+    /**
+     * Check if content filtering is supported for this subscription.
+     * @returns True if the subscription instance supports content filtering; otherwise false.
+     */
+    isContentFilterSupported(): boolean;
+
     /**
      * Test if the RMW supports content-filtered topics and that this subscription
      * is configured with a well formed content-filter.