Mark last non-trivial errors with ts-expect-error

src/actionlib/SimpleActionServer.js

@@ -83,6 +83,7 @@ class SimpleActionServer extends EventEmitter2 {
         // needs to happen AFTER rest is set up
         that.emit("cancel");
       } else {
+        // @ts-expect-error -- we need to design a way to handle arbitrary fields in Message types.
         that.statusMessage.status_list = [
           { goal_id: goalMessage.goal_id, status: 1 },
         ];
@@ -156,7 +157,9 @@ class SimpleActionServer extends EventEmitter2 {
       var nsecs = Math.round(
         1000000000 * (currentTime.getTime() / 1000 - secs)
       );
+      // @ts-expect-error -- we need to design a way to handle arbitrary fields in Message types.
       that.statusMessage.header.stamp.secs = secs;
+      // @ts-expect-error -- we need to design a way to handle arbitrary fields in Message types.
       that.statusMessage.header.stamp.nsecs = nsecs;
       statusPublisher.publish(that.statusMessage);
     }, 500); // publish every 500ms
@@ -173,6 +176,7 @@ class SimpleActionServer extends EventEmitter2 {
     });
     this.resultPublisher.publish(resultMessage);
 
+    // @ts-expect-error -- we need to design a way to handle arbitrary fields in Message types.
     this.statusMessage.status_list = [];
     if (this.nextGoal) {
       this.currentGoal = this.nextGoal;
@@ -194,6 +198,7 @@ class SimpleActionServer extends EventEmitter2 {
     });
     this.resultPublisher.publish(resultMessage);
 
+    // @ts-expect-error -- we need to design a way to handle arbitrary fields in Message types.
     this.statusMessage.status_list = [];
     if (this.nextGoal) {
       this.currentGoal = this.nextGoal;
@@ -219,6 +224,7 @@ class SimpleActionServer extends EventEmitter2 {
    * Handle case where client requests preemption.
    */
   setPreempted() {
+    // @ts-expect-error -- we need to design a way to handle arbitrary fields in Message types.
     this.statusMessage.status_list = [];
     var resultMessage = new Message({
       status: { goal_id: this.currentGoal.goal_id, status: 2 },

src/core/Ros.js

@@ -65,6 +65,7 @@ class Ros extends EventEmitter2 {
   connect(url) {
     if (this.transportLibrary === "socket.io") {
       this.socket = assign(
+        // @ts-expect-error -- this doesn't seem to work
         io(url, { "force new connection": true }),
         socketAdapter(this)
       );

src/node/SocketIO.js

@@ -5,6 +5,7 @@ class SocketIO {
     this.socketio = null;
     this.socket = Ros.socket;
     if (options.http) {
+      // @ts-expect-error -- this doesn't seem to work.
       this.socketio = io(options.http);
     } else if (options.socketio) {
       this.socketio = options.socketio;
@@ -28,6 +29,7 @@ class SocketIO {
   }
   sendToFront(name, event) {
     return function (event) {
+      // @ts-expect-error -- this doesn't seem to work.
       this.socketio.emit(name, event);
     };
   }

src/node/TopicStream.js

@@ -5,17 +5,17 @@ var DuplexStream = require('stream').Duplex;
  * Publish a connected ROS topic to a duplex
  * stream. This stream can be piped to, which will
  * publish to the topic.
- *
- * @param {Object} options
- * @param {boolean} [options.subscribe=true] - The flag to indicate whether to subscribe to the topic and start emitting data or not.
- * @param {boolean} [options.publish=true] - The flag to indicate whether to register the stream as a publisher to the topic or not.
- * @param {boolean} [options.transform] - A function to change the data to be published or filter it if false is returned.
- */
+*
+* @param {Object} options
+* @param {boolean} [options.subscribe=true] - The flag to indicate whether to subscribe to the topic and start emitting data or not.
+* @param {boolean} [options.publish=true] - The flag to indicate whether to register the stream as a publisher to the topic or not.
+* @param {function} [options.transform] - A function to change the data to be published or filter it if false is returned.
+*/
+// @ts-expect-error -- prototype call here is unhappy - maybe we need to get rid of this or roll it into Topic.
 Topic.prototype.toStream = function(options) {
     options = options || {subscribe: true, publish: true};
 
     var topic = this;
-    var hasTransform = typeof options.transform === 'function';
 
     var stream = new DuplexStream({
         objectMode: true
@@ -24,8 +24,8 @@ Topic.prototype.toStream = function(options) {
 
     // Publish to the topic if someone pipes to stream
     stream._write = function(chunk, encoding, callback) {
-        if (hasTransform) {
-            chunk = options.transform(chunk);
+        if (typeof options.transform === "function") {
+          chunk = options.transform(chunk);
         }
         if (chunk === false) {
             topic.publish(chunk);