Leverage prebuildify to provide prebuilt addon for npm package

.github/workflows/prebuild-linux-arm64.yml

@@ -0,0 +1,79 @@
+name: Prebuild Linux ARM64
+
+on:
+  workflow_dispatch:
+  push:
+    tags:
+      - '*'
+
+jobs:
+  prebuild:
+    runs-on: ubuntu-24.04-arm
+    container:
+      image: ${{ matrix.docker_image }}
+    strategy:
+      fail-fast: false
+      matrix:
+        node-version: [22.X]
+        architecture: [arm64]
+        ros_distribution:
+          - humble
+          - jazzy
+          - kilted
+        include:
+          # Humble Hawksbill (May 2022 - May 2027)
+          - docker_image: ubuntu:jammy
+            ros_distribution: humble
+            ubuntu_codename: jammy
+          # Jazzy Jalisco (May 2024 - May 2029)
+          - docker_image: ubuntu:noble
+            ros_distribution: jazzy
+            ubuntu_codename: noble
+          # Kilted Kaiju (May 2025 - Dec 2026)
+          - docker_image: ubuntu:noble
+            ros_distribution: kilted
+            ubuntu_codename: noble
+
+    steps:
+    - name: Setup Node.js ${{ matrix.node-version }} on ${{ matrix.architecture }}
+      uses: actions/setup-node@v5
+      with:
+        node-version: ${{ matrix.node-version }}
+        architecture: ${{ matrix.architecture }}
+
+    - name: Setup ROS2
+      uses: ros-tooling/[email protected]
+      with:
+        required-ros-distributions: ${{ matrix.ros_distribution }}
+
+    - uses: actions/checkout@v5
+
+    - name: Install dependencies
+      shell: bash
+      run: |
+        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+        npm i
+
+    - name: Generate prebuilt binary
+      shell: bash
+      run: |
+        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+        npm run prebuild
+
+    - name: Upload prebuilt binary
+      uses: actions/upload-artifact@v4
+      with:
+        name: prebuilt-linux-arm64-node${{ matrix.node-version }}-${{ matrix.ubuntu_codename }}-${{ matrix.ros_distribution }}
+        path: prebuilds/linux-arm64/*.node
+        if-no-files-found: error
+
+    - name: Test loading prebuilt
+      shell: bash
+      run: |
+        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+        node -e "
+          const rclnodejs = require('./index.js');
+          console.log('Successfully loaded rclnodejs with prebuilt binary');
+          console.log('Platform:', process.platform, 'Arch:', process.arch);
+          console.log('ROS_DISTRO:', process.env.ROS_DISTRO);
+        "

.github/workflows/prebuild-linux-x64.yml

@@ -0,0 +1,79 @@
+name: Prebuild Linux x64
+
+on:
+  workflow_dispatch:
+  push:
+    tags:
+      - '*'
+
+jobs:
+  prebuild:
+    runs-on: ubuntu-latest
+    container:
+      image: ${{ matrix.docker_image }}
+    strategy:
+      fail-fast: false
+      matrix:
+        node-version: [22.X]
+        architecture: [x64]
+        ros_distribution:
+          - humble
+          - jazzy
+          - kilted
+        include:
+          # Humble Hawksbill (May 2022 - May 2027)
+          - docker_image: ubuntu:jammy
+            ros_distribution: humble
+            ubuntu_codename: jammy
+          # Jazzy Jalisco (May 2024 - May 2029)
+          - docker_image: ubuntu:noble
+            ros_distribution: jazzy
+            ubuntu_codename: noble
+          # Kilted Kaiju (May 2025 - Dec 2026)
+          - docker_image: ubuntu:noble
+            ros_distribution: kilted
+            ubuntu_codename: noble
+
+    steps:
+    - name: Setup Node.js ${{ matrix.node-version }} on ${{ matrix.architecture }}
+      uses: actions/setup-node@v5
+      with:
+        node-version: ${{ matrix.node-version }}
+        architecture: ${{ matrix.architecture }}
+
+    - name: Setup ROS2
+      uses: ros-tooling/[email protected]
+      with:
+        required-ros-distributions: ${{ matrix.ros_distribution }}
+
+    - uses: actions/checkout@v5
+
+    - name: Install dependencies
+      shell: bash
+      run: |
+        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+        npm i
+
+    - name: Generate prebuilt binary
+      shell: bash
+      run: |
+        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+        npm run prebuild
+
+    - name: Upload prebuilt binary
+      uses: actions/upload-artifact@v4
+      with:
+        name: prebuilt-linux-x64-node${{ matrix.node-version }}-${{ matrix.ubuntu_codename }}-${{ matrix.ros_distribution }}
+        path: prebuilds/linux-x64/*.node
+        if-no-files-found: error
+
+    - name: Test loading prebuilt
+      shell: bash
+      run: |
+        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+        node -e "
+          const rclnodejs = require('./index.js');
+          console.log('Successfully loaded rclnodejs with prebuilt binary');
+          console.log('Platform:', process.platform, 'Arch:', process.arch);
+          console.log('ROS_DISTRO:', process.env.ROS_DISTRO);
+        "

README.md

@@ -54,6 +54,26 @@ npm i rclnodejs
 
 See the [features](./docs/FEATURES.md) and try the [examples](https://github.com/RobotWebTools/rclnodejs/tree/develop/example) to get started.
 
+### Prebuilt Binaries
+
+rclnodejs ships with prebuilt native binaries for common Linux configurations since `v1.5.2`, eliminating the need for compilation during installation. This significantly speeds up installation and reduces dependencies.
+
+**Supported Platforms:**
+
+- **Ubuntu 22.04 (Jammy)** - ROS 2 Humble
+- **Ubuntu 24.04 (Noble)** - ROS 2 Jazzy, Kilted, Rolling
+- **Architectures:** x64, arm64
+- **Node.js:** >= 16.20.2 (N-API compatible)
+
+**Force Building from Source:**
+
+If you need to build from source even when a prebuilt binary is available, set the environment variable:
+
+```bash
+export RCLNODEJS_FORCE_BUILD=1
+npm install rclnodejs
+```
+
 ## rclnodejs-cli
 
 [rclnodejs-cli](https://github.com/RobotWebTools/rclnodejs-cli/) is a companion project we recently launched to provide a commandline interface to a set of developer tools for working with this `rclnodejs`. You may find `rclnodejs-cli` particularly useful if you plan to create ROS 2 node(s) and launch files for working with multiple node orchestrations.

index.js

@@ -37,7 +37,7 @@ const {
 } = require('./lib/parameter.js');
 const path = require('path');
 const QoS = require('./lib/qos.js');
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('./lib/native_loader.js');
 const tsdGenerator = require('./rostsd_gen/index.js');
 const validator = require('./lib/validator.js');
 const Time = require('./lib/time.js');

lib/action/client.js

@@ -14,7 +14,7 @@
 
 'use strict';
 
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('../native_loader.js');
 const ActionInterfaces = require('./interfaces.js');
 const ActionUuid = require('./uuid.js');
 const ClientGoalHandle = require('./client_goal_handle.js');

lib/action/graph.js

@@ -14,7 +14,7 @@
 
 'use strict';
 
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('../native_loader.js');
 
 /**
  * Get a list of action names and types for action clients associated with a node.

lib/action/server.js

@@ -14,7 +14,7 @@
 
 'use strict';
 
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('../native_loader.js');
 const ActionInterfaces = require('./interfaces.js');
 const ActionUuid = require('./uuid.js');
 const DistroUtils = require('../distro.js');

lib/action/server_goal_handle.js

@@ -14,7 +14,7 @@
 
 'use strict';
 
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('../native_loader.js');
 const ActionInterfaces = require('./interfaces.js');
 const Deferred = require('./deferred.js');
 const { GoalEvent } = require('./response.js');

lib/client.js

@@ -14,7 +14,7 @@
 
 'use strict';
 
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('./native_loader.js');
 const DistroUtils = require('./distro.js');
 const Entity = require('./entity.js');
 const debug = require('debug')('rclnodejs:client');

lib/clock.js

@@ -14,7 +14,7 @@
 
 'use strict';
 
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('./native_loader.js');
 const Time = require('./time.js');
 const ClockType = require('./clock_type.js');
 

lib/context.js

@@ -14,7 +14,7 @@
 
 'use strict';
 
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('./native_loader.js');
 
 let defaultContext = null;
 

lib/duration.js

@@ -14,7 +14,7 @@
 
 'use strict';
 
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('./native_loader.js');
 const S_TO_NS = 10n ** 9n;
 
 /**

lib/event_handler.js

@@ -14,7 +14,7 @@
 
 'use strict';
 
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('./native_loader.js');
 const DistroUtils = require('./distro.js');
 const Entity = require('./entity.js');
 

lib/guard_condition.js

@@ -12,7 +12,7 @@
 
 'use strict';
 
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('./native_loader.js');
 const Entity = require('./entity.js');
 const Context = require('./context.js');
 

lib/lifecycle.js

@@ -14,7 +14,7 @@
 
 'use strict';
 
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('./native_loader.js');
 const LifecyclePublisher = require('./lifecycle_publisher.js');
 const loader = require('./interface_loader.js');
 const Context = require('./context.js');

lib/lifecycle_publisher.js

@@ -14,7 +14,7 @@
 
 'use strict';
 
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('./native_loader.js');
 const Logging = require('./logging.js');
 const Publisher = require('./publisher.js');
 

lib/logging.js

@@ -15,7 +15,7 @@
 'use strict';
 
 const path = require('path');
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('./native_loader.js');
 
 /**
  * Enum for LoggingSeverity